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<dc:title xml:lang="pl"><![CDATA[Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults]]></dc:title>
<dc:creator><![CDATA[Kantue, Paulin]]></dc:creator>
<dc:creator><![CDATA[Pedro, Jimoh O.]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[fault-tolerant control]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[quadrocopter]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[incipient actuator fault]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[radial basis function neural network]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[An integrated approach to the fault-tolerant control (FTC) of a quadcopter unmanned aerial vehicle (UAV) with incipient actuator faults is presented. The framework is comprised of a radial basis function neural network (RBFNN) fault detection and diagnosis (FDD) module and a reconfigurable flight controller (RFC) based on the extremum seeking control approach. The dynamics of a quadcopter subject to incipient actuator faults are estimated using a nonlinear identification method comprising a continuous forward algorithm (CFA) and a modified golden section search (GSS) one.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[A time-difference-of-arrival (TDOA) method and the post-fault system estimates are used within the FDD module to compute the fault location and fault magnitude. The impact of bi-directional uncertainty and FDD detection time on the overall FTC performance and system recovery is assessed by simulating a quadcopter UAV during a trajectory tracking mission and is found to be robust against incipient actuator faults during straight and level flight and tight turns.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Yao, Baozhen - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Wang, Shuaian - ed.]]></dc:contributor>
<dc:contributor><![CDATA[Asian, Sobhan - ed.]]></dc:contributor>
<dc:date><![CDATA[2022]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/86512/AMCS_2022_32_4_6.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/101535/edition/86512/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:86512]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 32, number 4 (2022)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=126]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:101535]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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