gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.0064gyroscopy-171Research ArticleСтатьиОтказоустойчивое управление групповым полетом мультикоптеровFault-Tolerant Control Design for Multirotor UAVs Formation FlightСлимM.

Слим Малак. Аспирант, Американский университет Бейрута (Ливан); Научно-исследовательский центр приборостроения, факультет приборостроения, Ливанский университет (Хадат, Ливан). 

СайедM.SaiedM.

Сайед Мадж. Доцент

Saied, M.

МазехХ.MazehH.

Мазех Хусейн. Преподаватель

Mazeh, H.

ШраимХ.ShraimH.

Шраим Хасан. Декан

Shraim, H.

ФрансисК.FrancisC.

Франсис Кловис. Директор, Научно-исследовательский центр приборостроения

Francis, C. 

Американский университет Бейрута (Ливан), Ливанский университет (Хадат, Ливан)ЛиванScientific Research Center in Engineering, Faculty of Engineering, Lebanese University, Hadath, LebanonLebanonЛиванский университет (Хадат, Ливан)ЛиванLebanese University, Hadath, LebanonLebanonУниверситетский колледж Матна (Бейрут, Ливан), Ливанский университет (Хадат, Ливан)LebanonЛиванский университет (Хадат, Ливан)РоссияLebanese University, Hadath, LebanonRussian FederationЛиванский университет (Хадат, Ливан)РоссияScientific Research Center in Engineering, Lebanese University, Hadath, LebanonRussian Federation2021260920252927896Copyright © Слим M.S., Сайед M., Мазех Х., Шраим Х., Франсис К., 20252025Слим M., Сайед M., Мазех Х., Шраим Х., Франсис К.Слим M.S., Saied M., Mazeh H., Shraim H., Francis C.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/171

В статье для решения задачи оперативной оптимизации в процессе распределенного управления строем гексакоптеров без лидера используется алгоритм управления искусственным пчелиным роем, наилучший в глобальном смысле (Gbest-Guided Artificial Bee Colony – GABC, АУПР-ГЛ). АУПР-ГЛ обеспечивает оптимизацию целевой функции для каждого агента при приближении гексакоптера к заданной точке и обходе препятствий и других беспилотных летательных аппаратов (БПЛА). Показано, что он может конкурировать с другими применяемыми бионическими алгоритмами, например оптимизации роя частиц (Particle Swarm Optimization – PSO, ОРЧ). Представлены методы отказоустойчивого управления, которые протестированы на разных сценариях, в частности для случая потери агентов и отказа актюаторов в строе. Результаты демонстрируют, что предлагаемые методы отказоустойчивого управления способны минимизировать влияние отказов на конечную задачу строя БПЛА.

This paper proposes the use of the Gbest-Guided Artificial Bee Colony (GABC) algorithm to solve an online optimization problem for the leaderless distributed formation control of hexarotor Unmanned Aerial Vehicles (UAVs). The GABC is employed to optimize a cost function for each agent while ensuring the convergence of the fleet to the target position and averting both obstacles and collisions with other UAVs. The GABC algorithm has been shown to be competitive with some other conventional biological-inspired algorithms such as the Particle Swarm Optimization (PSO). Fault-Tolerant Control (FTC) methods are presented and tested on several scenarios, particularly we considered the cases of loss of agents and actuator faults in the fleet. Results show the success of the proposed FTC methods to minimize the faults effect on the formation final goal.

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The authors declare that there are no conflicts of interest present.