论文标题
飞行器中期螺旋桨故障检测和控制螺旋桨缺乏的四轮驱动器使用增强型学习
Mid-flight Propeller Failure Detection and Control of Propeller-deficient Quadcopter using Reinforcement Learning
论文作者
论文摘要
四轮驱动器可能会在飞行中部的螺旋桨损失中损失，因此需要具有检测单个和多个螺旋桨故障的系统和一个自适应控制器，并且可以稳定螺旋桨缺陷型四极管。本文为具有4、3和2（相对）功能螺旋桨的四轮驱动器提供了基于增强学习的控制器。本文还提出了一个基于神经网络的螺旋桨故障检测系统，以检测螺旋桨损失并切换到适当的控制器。模拟结果证明了所有控制器的稳定四轮驱动器具有有效的航向跟踪。检测系统能够在短时间内检测到螺旋桨故障并稳定四肢旋转器。
Quadcopters can suffer from loss of propellers in mid-flight, thus requiring a need to have a system that detects single and multiple propeller failures and an adaptive controller that stabilizes the propeller-deficient quadcopter. This paper presents reinforcement learning based controllers for quadcopters with 4, 3, and 2 (opposing) functional propellers. The paper also proposes a neural network based propeller fault detection system to detect propeller loss and switch to the appropriate controller. The simulation results demonstrate a stable quadcopter with efficient waypoint tracking for all controllers. The detection system is able to detect propeller failure in a short time and stabilize the quadcopter.
