Fractional Gradient Descent RBFNN for Active Fault-Tolerant Control of Plant Protection UAVs

With the increasing prevalence of high-order systems in engineering applications, these systems often exhibit significant disturbances and can be challenging to model accurately. As a result, the active disturbance rejection controller (ADRC) has been widely applied in various fields. However, in co...

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Vydané v:Computer modeling in engineering & sciences Ročník 138; číslo 3; s. 2129 - 2157
Hlavní autori: Hua, Lianghao, Zhang, Jianfeng, Li, Dejie, Xi, Xiaobo
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Henderson Tech Science Press 2024
Predmet:
Actuators
Algorithms
Control methods
Control theory
Fault tolerance
Load
Neural networks
Parameter identification
Parameter uncertainty
Radial basis function
Spraying
Unmanned aerial vehicles
ISSN:1526-1506, 1526-1492, 1526-1506
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Shrnutí:With the increasing prevalence of high-order systems in engineering applications, these systems often exhibit significant disturbances and can be challenging to model accurately. As a result, the active disturbance rejection controller (ADRC) has been widely applied in various fields. However, in controlling plant protection unmanned aerial vehicles (UAVs), which are typically large and subject to significant disturbances, load disturbances and the possibility of multiple actuator faults during pesticide spraying pose significant challenges. To address these issues, this paper proposes a novel fault-tolerant control method that combines a radial basis function neural network (RBFNN) with a second-order ADRC and leverages a fractional gradient descent (FGD) algorithm. We integrate the plant protection UAV model’s uncertain parameters, load disturbance parameters, and actuator fault parameters and utilize the RBFNN for system parameter identification. The resulting ADRC exhibits load disturbance suppression and fault tolerance capabilities, and our proposed active fault-tolerant control law has Lyapunov stability implications. Experimental results obtained using a multi-rotor fault-tolerant test platform demonstrate that the proposed method outperforms other control strategies regarding load disturbance suppression and fault-tolerant performance.
Bibliografia:ObjectType-Article-1
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content type line 14
ISSN:1526-1506
1526-1492
1526-1506
DOI:10.32604/cmes.2023.030535