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Wavelet-based techniques for fault detection usually employ one of two basic approaches, namely (a) decomposition of a measured signal containing fault-related information or (b) decomposition of a residue calculated as the difference between sensor readings and the output of a model. An alternative approach, which was recently proposed in, consists of employing the wavelet transform to identify a...
In this paper, the sliding mode approach is used to control of a quadrotor unmanned aerial vehicle (UAV) in the presence of external disturbance and actuator fault. Fault detection unit can detect the actuator fault using a state estimator. Then it reconfigures the structure of controller such that some control performance is achieved. The proposed control structure has the advantage of disturbance...
This paper presents a design of fuzzy logic control for 2DOF laboratory helicopter model (Humusoft CE 150) which represents a nonlinear and highly cross-coupled system. The controller is composed of two fuzzy logic controllers for azimuth and elevation controls. The main objective of the paper is to obtain robust and stable controls for wide range of azimuth and elevation angles changing during the...
Planning missions is one of the most important tasks in Command and Control (C2) domain. Many efforts have been devoted to improve the planning process in order to deal with new constraints such as planning in a multi-user, multi-perspective, distributed and network-enabled environment. Unfortunately, less effort has been devoted to monitor the execution of plans in-progress. In this work, we propose...
Predictive Control formulations can be designed with nominal asymptotic stability guarantees, provided that the associated optimization problem is feasible at each sampling time. However, model-plant mismatches, external perturbations or faults may cause the optimization to become infeasible. Such a problem motivates the development of techniques aimed at recovering feasibility without violating hard...
This paper considers the fault detection problem of mini-helicopter (Drone) where sensing and actuation signals are exchanged among various parts of the system via communication networks. For reducing the network load and thus minimizing the uncertainty caused by transmission delay or packet dropout, instead of transmitting all measurements of velocity sensors at each sampling time, only one velocity...
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