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Full Description
This book provides a comprehensive overview of recent advances in the analysis and design of health management systems for cooperating unmanned aerial vehicles. Such systems rely upon monitoring and fault adaptation schemes. Motivation for their study comes from the fact that, despite the use of fault-tolerant control software and hardware embedded onboard air vehicles, overall fleet performance may still be degraded after the occurrence of anomalous events such as systems faults and failures. Cooperative health management (CHM) systems seek to provide adaptation to the presence of faults by capitalizing on the availability of interconnected computing, sensing and actuation resources.This monograph complements the proposed CHM concepts by means of case studies and application examples. It presents fundamental principles and results encompassing optimization, systems theory, information theory, dynamics, modeling and simulation. Written by pioneers in cooperative control, health management and fault-tolerant control for unmanned systems, this book is a unique source of information for designers, researchers and practitioners interested in the field.
Contents
Unmanned Aerial Vehicles; Actuator Faults and Failures; Body Damage; Guidance and Control; Cooperative Control; Health Management for Individual Vehicles; Health Monitoring and Adaptation for Fleets of Vehicles; Formation Flight; Detection of Anomalies; Team Adaptation; Path Planning; Network Mishaps; Online Decision-Making; Systems Implementation and Integration.
