دانلود کتاب Fault-Tolerant Cooperative Control of Unmanned Aerial Vehicles

فهرست مطالب :

Preface
Acknowledgments
Contents
Acronyms
1 Introduction
1.1 Background and Motivations
1.2 Introduction to Fault-Tolerant Control
1.3 Introduction to Cooperative Control of Multi-UAVs
1.4 Introduction to Fault-Tolerant Cooperative Control of Multi-UAVs
1.4.1 Individual Fault-Tolerant Cooperative Control of Multi-UAVs
1.4.2 Leader-Following Fault-Tolerant Cooperative Control of Multi-UAVs
1.4.3 Distributed Fault-Tolerant Cooperative Control of Multi-UAVs
1.5 Organization of the Monograph
References
2 Fixed-Wing UAV Model
2.1 Fixed-Wing UAV Dynamics
2.2 Fixed-Wing UAV Longitudinal Model
2.3 Fixed-Wing UAV Inner-Loop Attitude Model
2.4 Fixed-Wing UAV Outer-Loop Position Model
2.5 Conclusions
References
3 Distributed FTCC of Multi-UAVs with Prescribed Performance
3.1 Introduction
3.2 Preliminaries and Problem Statement
3.2.1 UAV Longitudinal Dynamics with Faults
3.2.2 Dynamics Transformation
3.2.3 Basic Graph Theory
3.2.4 Radial Basis Function Neural Network
3.2.5 Control Objective
3.3 Main Results
3.3.1 Distributed Sliding-Mode Observer
3.3.2 Tracking Error Transformation with Prescribed Performance Function
3.3.3 Prescribed Performance-Based Distributed FTCCDesign
3.3.4 Stability Analysis
3.4 Simulation Results
3.5 Conclusion
References
4 Distributed FTCC of Multi-UAVs Under Actuator Fault and Input Saturation
4.1 Introduction
4.2 Preliminaries and Problem Formulation
4.2.1 UAV Longitudinal Dynamics
4.2.2 Actuator Fault Model
4.2.3 Basic Graph Theory
4.2.4 Control Objective
4.3 Main Results
4.3.1 Distributed Controller Design for Velocity Subsystem
4.3.2 Distributed FTCC Design for Attitude Subsystem
4.3.3 Stability Analysis
4.4 Simulations Results
4.5 Conclusions
References
5 Distributed FTCC of Multi-UAVs with Multiple Leader UAVs
5.1 Introduction
5.2 Preliminaries and Problem Formulation
5.2.1 Faulty UAV Longitudinal Dynamics
5.2.2 Basic Graph Theory
5.2.3 High-Gain Observer
5.2.4 Control Objective
5.3 Main Results
5.3.1 Distributed Sliding-Mode Observer
5.3.2 Distributed FTCC for Attitude Subsystem
5.3.3 Velocity Controller Design
5.3.4 Stability Analysis
5.4 Simulation Results
5.5 Conclusions
References
6 Distributed Finite-Time FTCC of Multi-UAVs with Multiple Leader UAVs
6.1 Introduction
6.2 Preliminaries and Problem Statement
6.2.1 Faulty UAV Longitudinal Dynamics
6.2.2 Model Transformation
6.2.3 Control Objective
6.3 Main Results
6.3.1 Distributed Finite-Time Sliding-Mode ObserverDesign
6.3.2 Finite-Time Controller Design for Forward Subsystem
6.3.3 Finite-Time Fault-Tolerant Controller Design for Vertical Subsystem
6.3.4 Stability Analysis
6.4 Simulation Results
6.5 Conclusions
References
7 Decentralized Finite-Time Attitude FTCC of Multi-UAVs with Prescribed Performance
7.1 Introduction
7.2 Preliminaries and Problem Statement
7.2.1 Faulty UAV Attitude Dynamics
7.2.2 Basic Graph Theory
7.2.3 Control Objective
7.3 Main Results
7.3.1 Error Transformation
7.3.2 Controller Design
7.3.3 Stability Analysis
7.4 Simulation Results
7.5 Conclusions
References
8 Decentralized Attitude FTCC of Multi-UAVs Under Directed Communication Topology
8.1 Introduction
8.2 Preliminaries and Problem Statement
8.2.1 Faulty UAV Attitude Dynamics
8.2.2 Basic Graph Theory
8.2.3 Control Objective
8.3 Main Results
8.3.1 Error Transformation
8.3.2 Decentralized FTCC with Prescribed Attitude Synchronization Tracking Performance
8.3.3 Stability Analysis
8.4 Simulation Results
8.5 Conclusions
References
9 Decentralized FTCC of Multi-UAVs for Cooperative Forest Fire Monitoring
9.1 Introduction
9.2 Preliminaries and Problem Statement
9.2.1 Faulty UAV Position Model
9.2.2 Fire Spread Model
9.2.3 Fractional-Order Calculus
9.2.4 Control Objective
9.3 Main Results
9.3.1 Controller Design
9.3.2 Stability Analysis
9.4 Simulation Results
9.5 Conclusions
References
10 Conclusions and Future Directions
10.1 Conclusions
10.2 Future Research Directions