Fault Tolerant Control of Quadrotor UAV Based on Support Vector Machine

doi:10.1109/ICCSSE.2019.00010

	Fault Tolerant Control of Quadrotor UAV Based on Support Vector Machine
	Jun, Wang; Tian, Yuyang
	2019-08-01
会议名称	5th International Conference on Control Science and Systems Engineering, ICCSSE 2019
会议录名称	Proceedings - 5th International Conference on Control Science and Systems Engineering, ICCSSE 2019
页码	10-13
会议日期	August 14, 2019 - August 16, 2019
会议地点	Shanghai, China
出版者	Institute of Electrical and Electronics Engineers Inc., United States
摘要	Aiming at the problem of partial failure of Quadrotor uav actuator, a collaborative design method of optimizing PID parameters of controller, fault diagnosis and fault-tolerant control is proposed. Firstly, the off-line optimization of PID parameters of four-rotor uav controller is carried out by using ant colony algorithm. According to the severity of actuator fault, the fault is partitioned and the corresponding fault tolerant controller is designed. In the case of actuator failure, support vector machine (SVM) is used to diagnose the fault, and then the fault of the fault tolerant controller is compensated by online scheduling. Finally, the feasibility and effectiveness of the proposed method are verified on the matlab experimental platform. © 2019 IEEE.
关键词	Actuators Ant colony optimization Controllers Fault tolerance Support vector machines Systems engineering Unmanned aerial vehicles (UAV) Actuator failures Ant colony algorithms Collaborative design Experimental platform Fault tolerant control Fault tolerant controllers Off-line optimization Online scheduling
DOI	10.1109/ICCSSE.2019.00010
收录类别	EI
语种	英语
EI入藏号	20201708554044
EI主题词	Vector control (Electric machinery)
来源库	Compendex
分类代码	652.1 Aircraft, General - 723 Computer Software, Data Handling and Applications - 731.2 Control System Applications - 732.1 Control Equipment - 921.5 Optimization Techniques - 961 Systems Science
引用统计	无
文献类型	会议论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/117966
专题	兰州理工大学
作者单位	College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China
第一作者单位	兰州理工大学
推荐引用方式 GB/T 7714	Jun, Wang,Tian, Yuyang. Fault Tolerant Control of Quadrotor UAV Based on Support Vector Machine[C]:Institute of Electrical and Electronics Engineers Inc., United States,2019:10-13.