This paper proposes a fault-tolerant control scheme for the pursuit-evasion (PE) game between two quadrotor helicopters. Initially, the quadrotor helicopters are modeled based on the high-order fully-actuated (HOFA) approach, allowing to eliminate the nonlinear dynamics of the quadrotor helicopters. Subsequently, the game strategies for the pursuer, faults and the evader are designed. The optimal control rate is obtained by solving the Hamilton-Jacobi-Isaacs (HJI) equation using a critic neural network. It is demonstrated that the proposed fault-tolerant control (FTC) law assists the fault-affected pursuer in successfully capturing the evader and estimating the upper bound of bias fault. Finally, the effectiveness of the fault-tolerant PE game control scheme is validated through numerical simulations.
Fault-tolerant Pursuit-evasion Games for Quadrotor Helicopters Based on a Fully-actuated System Approach
2024-05-10
1053850 byte
Conference paper
Electronic Resource
English
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