T3: New Developments on Sense-and-Avoid (S&A), Distributed Fault Diagnosis (DFD), Fault-Tolerant Control (FTC) and Fault-Tolerant Cooperative Control (FTCC) Techniques for UAVs and Their Applications

Organizers and Presenters

Youmin Zhang
Department of Mechanical, Industrial, and Aerospace Engineering & Concordia Institute of Aerospace Design and Innovation (CIADI)
Concordia University, Canada

Didier Theilliol
CRAN UMR 7039, CNRS
University of Lorraine, France

Marios M. Polycarpou
KIOS Research and Innovation Center of Excellence and ECE
University of Cyprus, Cyprus

Panayiotis Kolios
KIOS Research and Innovation Center of Excellence
University of Cyprus, Cyprus

Pedro Castillo
Sorbonne Universités
Université de Technologie de Compiègne, France

Andrea Monteriu
Dipartimento di Ingegneria dell’Informazione
Università Politecnica delle Marche, Italy

Xiang Yu
School of Automation Science and Electrical Engineering
Beihang University, China

Ban Wang
School of Aeronautics
Northwestern Polytechnical University, China

Ziquan Yu
College of Automation Engineering
Nanjing University of Aeronautics and Astronautics, China

Tutorial Summary

Unmanned systems, including Unmanned Aerial Vehicles or Unmanned Aircraft Systems (UAVs or UAS), Unmanned Ground Vehicles (UGVs), and Unmanned Surface/Underwater Vehicles (USVs/UUVs), have gained increased attention during the last years due to their utilization in diverse applications such as surveillance, search and rescue missions, geographic studies, military and security, etc. Sense and Avoid (S&A) is mandatory to enable UASs safe integration into airspace, while Anti-Disturbance Control (ADC), Fault-Tolerant Control (FTC) and Fault-Tolerant Cooperative Control (FTCC) techniques contribute to guaranteeing safety of unmanned systems during operation. Based on prior and ongoing research and development and experience gained by each of the presenters from five countries, this tutorial workshop will present state-of-the-art techniques in S&A, ADC, Distributed Fault Diagnosis (DFD), FTC for single vehicle, as well as FTCC for multiple vehicles with applications to forest fire/environment monitoring and detection, search and rescue, with different types of unmanned systems including UAVs, UGVs, and USVs by combing with remote sensing techniques, as well as applications to wind turbines/farm and smart grids in renewable energies field.

An overview of past, current and future research activities and research outcomes on S&A, ADC, DFD, FTC, and FTCC and their applications to quadrotor rotary and fixed-wing UAVs will be presented. Linear and nonlinear techniques for modeling, ADC, fault diagnosis, FTC, path and trajectory planning/re-planning, cooperative/formation flight guidance, navigation and control, based on a quadrotor helicopter UAV and fixed-wing UAV test beds at presenters’ Labs, will be discussed with some latest results based also on multi-agent system approach. A review of developed vision-based automated forest fire/ environment monitoring and detection systems using UAVs combining imaging processing techniques with deep learning methodologies etc. and the key issues towards practical and reliable applications of UAVs will also be presented.

Tutorial Outline

  • 08:45 – 9:15: Introduction to Sense and Avoid (S&A), Fault Detection and Diagnosis (FDD), Fault-tolerant Control (FTC), and Fault-tolerant Cooperative Control (FTCC): Motivation, Concept, History, Existing and Future Developments (Dr. Zhang)
  • 9:15 – 9:35: Model-based Fault-Tolerant Control for Multi-rotor Unmanned Vehicles (Dr. Monteriu)
  • 9:35 – 10:00: Fault Control Scheme for VTOL Aircrafts: Some Experimental Validation (Dr. Castillo)
  • 10:00 – 10:30: Developments on ADC, FDD, FTC and FTCC with Applications to Fixed-wing and Quadrotor UAVs Testbeds (Dr. X. Yu and Dr. Zhang)
  • 10:30 – 10:45: Coffee Break
  • 10:45 – 11:00: Design of FTC Methods Based on Reliability (Dr. Theilliol and Dr. Zhang)
  • 11:00 – 11:45: Towards Reliable Fault-Tolerant Control of Unmanned Quadrotor Helicopters (Dr. Wang and Dr. Zhang)
  • 12:30 – 13:30: Lunch Time
  • 13:30 – 14:00: Distributed Fault Diagnosis of UAVs (Dr. Polycarpou)
  • 14:00 – 14:30: Multi-agent System Architectures for Joint Decision and Control of Drone Swarms (Dr. Polycarpou and Dr. Kolios)
  • 14:30 – 15:00: FTC of Multiple UAVs in the Presence of Actuator Faults: A Consensus Algorithm Approach based on Multi-agent System (Dr. Theilliol)
  • 15:00 – 15:30: Coffee Break
  • 15:30 – 16:15: Overview and New Developments on UAV Sense and Avoid (S&A) Techniques (Dr. X. Yu and Dr. Zhang)
  • 16:15 – 16:45: Overview and New Developments on Remote Sensing and Computer Vision Technologies towards Forest Fire Monitoring Applications UAVs (Dr. Zhang)
  • 16:45 – 17:15: FTCC of Multiple UAVs in the Presence of Actuator Faults with Application to Cooperative Monitoring of Forest Fires (Dr. Z. Q. Yu and Dr. Zhang)
  • 17:15 – 17:30: Summary, Discussion, and Feedback

Intended Audience

Graduate students and researchers, managers, practitioners and developers who are interested in unmanned systems (on air, land and water), sense and avoid, remote sensing, fault-tolerant and cooperative control, fault diagnosis, health management, fault-tolerant guidance, navigation and control, and applications to forest fire, power line, pipeline monitoring, search and rescue and fault/damage detection etc.

Tutorial material

Tutorial material will be distributed to registered participants.