Dynamic Event-Triggered <i>Hᵢ/H<sub>∞</sub> </i> Optimization Approach to Fault Detection for Unmanned Aerial Vehicles
Wendong Gai, Shanshan Li, Jing Zhang, Yuqi Zheng, Maiying Zhong
Abstract
This article dealt with the problem of dynamic-event-triggered fault detection (FD) for unmanned aerial vehicles (UAVs) in the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H _{i}/H _{\infty }$ </tex-math></inline-formula> optimization criterion. To make use of limited communication resources, a dynamic-event-triggered mechanism (ETM) was considered to determine whether system information will be transmitted to the ground station. Note that the transmitted data failing to satisfy a predefined triggered condition were discarded directly. As such, FD performance was affected by not only disturbances and faults but also dynamic-event-triggered transmission errors, namely, the errors between the data of non-event time and the current actual system. To solve this problem, a new dynamic-event-triggered <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H _{i}/H _{\infty }$ </tex-math></inline-formula> optimization approach was presented, whose contribution lied in the complete decoupling of residuals and event transmission errors under dynamic ETM, which can avoid continuous communication and Zeno phenomenon. First, a dynamic ETM was presented to determine communication time. Then, a variable sampling period model of UAV was established based on the dynamic ETM. On this basis, a dynamic-event-triggered residual generator was constructed. In the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H _{i}/H _{\infty }$ </tex-math></inline-formula> optimization criterion, Riccati recursion was used to compute the optimum solution of a dynamic-event-triggered FD filter. Moreover, a new residual evaluation method was proposed, whose effectiveness and feasibility were finally verified by the altitude control system of a UAV.