期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 66, 期 11, 页码 5584-5591出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2021.3053194
关键词
Actuators; Fault tolerant systems; Fault tolerance; Synchronization; Optimal control; Rotors; Nonlinear dynamical systems; Data-based; fault-tolerant control (FTC); quadrotor system; reinforcement learning (RL); synchronization control
资金
- National Natural Science Foundation of China [61873012, 61503012, 61633007]
- Office of Naval Research [N00014-17-1-2239]
This article investigates a data-driven fault-tolerant synchronization control method for unknown cooperative quadrotors, using reinforcement learning and distributed observer. The simulation results demonstrate the effectiveness of this method in controlling the effects of quadrotor actuator faults. The constructed controller's stability is proven in the study.
In this article, the data-driven fault-tolerant synchronization control problem is investigated for unknown cooperative quadrotors subject to nonlinearities and multiple actuator faults in the quadrotor dynamics. A distributed observer is provided to estimate the state of the virtual leader. Based on the reinforcement learning theory, the optimal control policy is learned for each quadrotor without any knowledge of the quadrotor dynamic information. Then, the learned control policy is used to construct a data-based fault-tolerant controller to restrain the effects of quadrotor actuator faults. Stability of the constructed controller is proven and the simulation results illustrate the effectiveness of the proposed controller.
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