Data-Driven Fault-Tolerant Control for Attitude Synchronization of Nonlinear Quadrotors

• 成果类型: Article
• 署名作者: Zhao, Wanbing; Liu, Hao; Lewis, Frank L.
• 署名单位: Beihang University; Beihang University; University of Texas System; University of Texas Arlington
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3053194
• 发表日期: 2021
• 页码: 5584-5591
• 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

摘要

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.