T1: New Developments on Sense and Avoid (S&A), Distributed Fault Detection and Diagnosis (DFDD), Fault-Tolerant Control (FTC) and Fault-Tolerant Cooperative Control (FTCC) Techniques for Unmanned Systems

Date and time: June 6, 2023, 8:45-17:30 (full day)

Organizers and Presenters

Youmin Zhang, Professor
Concordia University, Canada

Didier Theilliol, Professor
University of Lorraine, France

Marios M. Polycarpou, Professor
University of Cyprus, Cyprus

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

Pedro Castillo, CNRS Researcher
Université de Technologie de Compiègne, France

Andrea Monteriu, Associate Professor
Università Politecnica delle Marche, Italy

Xiang Yu, Professor
Beihang University, China

Ban Wang, Associate Professor
Northwestern Polytechnical University, China

Ziquan Yu, Associate Professor
Nanjing University of Aeronautics and Astronautics, China

Tutorial Summary

Unmanned Systems (USs) 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. Sense and Avoid (S&A) is mandatory to enable UAS 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 cumulative experience of the presenters from five countries in Europe, Canada, and China, this tutorial presents state-of-the-art techniques in S&A, ADC, Distributed Fault Detection and Diagnosis (DFDD), and FTC, for a single vehicle, as well as FTCC for multiple vehicles with applications to forest fire/environment monitoring and detection, search, and rescue. Different types of unmanned systems including UAVs, UGVs, and USVs are used, combining remote sensing techniques. In addition, applications to wind turbines/farm and smart grids in the field of renewable energy are also presented.
An overview of past, current, and future research activities and research outcomes on S&A, ADC, DFDD, FTC, and FTCC and their applications to quadrotor rotary, fixed-wing, and hybrid UAVs is 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, are discussed, and the latest results based on multi-agent system approach and under cyber-physical systems framework are summarized. A review of developed vision-based automated forest fire/environment monitoring and detection systems using UAVs combining imaging processing techniques with deep learning methodologies are summarized, and key issues governing practical/reliable UAV applications are discussed.

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 – 10:05: Fault Control Scheme for VTOL Aircrafts: Some Experimental Validation (Dr. Castillo)
10:05 – 10:35: Developments on ADC, FDD, FTC and FTCC with Applications to Fixed-wing and Quadrotor UAVs Testbeds (Dr. X. Yu and Dr. Zhang)
10:35 – 10:45: Coffee Break
10:45 – 11:15: Design of FTC Methods Based on Reliability (Dr. Theilliol and Dr. Zhang)
11:15 – 11:45: Towards Reliable Fault-Tolerant Control of VTOL Aerial Vehicles (Dr. Wang and Dr. Zhang)
11:45 – 13:30: Lunch Time
13:30 – 14:00: Distributed Fault Diagnosis (Dr. Polycarpou)
14:00 – 14:30: Multi-agent System Architectures for Joint Decision and Control of Drone Swarms (Dr. Kolios and Dr. Polycarpou)
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: Distributed Intelligent Adaptive FTCC of Multiple UAVs (Dr. Z. Q. Yu and Dr. Zhang)
17:15 – 17:30: Summary, Discussion, and Feedback (All)

Intended Audience

The tutorial is suitable for graduate students and researchers, managers, practitioners, and developers who are interested in unmanned systems, 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

Detailed material will be distributed to registered participants.