DEMONSTRATION OF CAPABILITIES OF AN AUTONOMOUS FAULT-TOLERANT FLIGHT CONTROL SYSTEM FOR UNMANNED AERIAL VEHICLES (UAV)

摘要

In this paper we present our advanced algorithms and design tools for autonomous fault-tolerant control of Unmanned Aerial Vehicles (UAV).A multi-layer autonomous intelligent control architecture is presented consisting of on-line Failure Detection, Identification and Reconfiguration (FDIR), Autonomous Trajectory Management (ATM), and Autonomous Decision Making (ADM) subsystems. The overall autonomous intelligent controller will be appllied to the GTMax helicopter under the Final Experiment for DARPA Software Enabled Control (SEC) Program, where the objective is to demonstrate the new advanced control capabilities through hardware-in-the-loop simulations and flight tests.