Отказоустойчивое управление групповым полетом мультикоптеров
https://doi.org/10.17285/0869-7035.0064
Аннотация
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.
Об авторах
M. СлимЛиван
Слим Малак. Аспирант, Американский университет Бейрута (Ливан); Научно-исследовательский центр приборостроения, факультет приборостроения, Ливанский университет (Хадат, Ливан).
M. Сайед
Ливан
Сайед Мадж. Доцент
Х. Мазех
Ливан
Мазех Хусейн. Преподаватель
Х. Шраим
Россия
Шраим Хасан. Декан
К. Франсис
Россия
Франсис Кловис. Директор, Научно-исследовательский центр приборостроения
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Рецензия
Для цитирования:
Слим M., Сайед M., Мазех Х., Шраим Х., Франсис К. Отказоустойчивое управление групповым полетом мультикоптеров. Гироскопия и навигация. 2021;29(2):78-96. https://doi.org/10.17285/0869-7035.0064
For citation:
M.S., Saied M., Mazeh H., Shraim H., Francis C. Fault-Tolerant Control Design for Multirotor UAVs Formation Flight. Gyroscopy and Navigation. 2021;29(2):78-96. https://doi.org/10.17285/0869-7035.0064
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