Fault-tolerant pursuit-evasion game control for a quadrotor helicopter under incomplete information: A hierarchical design approach

Key Points

• To develop a fault-tolerant control method for a quadrotor helicopter in pursuit-evasion games with incomplete information.
• Decoupling the quadrotor model using singular perturbation theory into fast and slow dynamics.
• Designing an adaptive fault estimator for the inner rotation subsystem.
• Implementing a fault-tolerant attitude tracking strategy based on fault compensation.
• Creating a strategy estimator for the evader and fault-tolerant pursuit strategy for the outer translational subsystem.
• Applying an Actor-Critic neural network for online approximation of optimal strategies using the HJB equation.
• The proposed control method effectively identifies system faults in real-time.
• The outer subsystem successfully captures the evader's strategy.
• Numerical simulations confirm the robustness and effectiveness of the hierarchical control approach.

Abstract