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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fault-tolerant Pursuit-evasion Games for Quadrotor Helicopters Based on a Fully-actuated System Approach


    Contributors:
    Xu, Jianfeng (author) / Xu, Yuhang (author) / Jiang, Bin (author)


    Publication date :

    2024-05-10


    Size :

    1053850 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Fault-Tolerant Game Control for Quadrotor Helicopters' Formation: A Fully Actuated System Approach

    Xu, Yuhang / Jiang, Bin / Polycarpou, Marios M. et al. | IEEE | 2025



    Pursuit Evasion Games using Collision Cones

    Sunkara, Vishwamithra / Chakravarthy, Animesh / Ghose, Debasish | AIAA | 2018


    Double Threat in Pursuit-Evasion Games

    Atir, H. / Israel Society of Aeronautics and Astronautics | British Library Conference Proceedings | 1994


    Pursuit Evasion Games with Imperfect Information Revisited

    Or, Barak / Ben-Asher, Joseph / Yaesh, Isaac | British Library Conference Proceedings | 2018