Distributed Robust Adaptive Fault-Tolerant Mechanism for Quadrotor UAV Real-Time Wireless Network Systems with Random Delay and Packet Loss

Abstract

This research combines a next-generation wireless network and a quadrotor unmanned aerial vehicle (UAV) to create a real-Time wireless network quadrotor UAV flight control system. Three major problems will occur when the system operates, such as external disturbances, internal actuator failures and wireless network association failures (random delay and packet loss). We propose a hierarchical distributed comprehensive robust adaptive fault-Tolerant control algorithm based on robust fault-Tolerant theory to improve the performance of this system. The simulation and flight experimental test results show that when this system is analyzed with respect to external disturbances, internal actuator failures and wireless network association failures, the designed controller stability is asymptotically stable, the performance of this system is very good and the system provides a strategy for establishing a ground-To-Air self-organizing wireless network.