Compared with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this paper proposes an event-based fault-tolerant coordinated control (FTC) for multiple fixed-wing UAVs such that the consensus tracking of velocity and attitude is achieved in the presence of actuator faults, external disturbances and modeling uncertainties. More precisely, as opposed to static event-triggered communication mechanisms, a dynamic event-triggered communication mechanism (DECM) is devised to schedule the connected communications while avoiding the unnecessary information exchanges among UAVs, which reduces the communication burden and saves on the network resources. Meanwhile, the Zeno phenomenon is excluded in terms of guaranteeing that the period between two consecutive triggering communication is lower bounded by a positive constant. Moreover, the actuator fault, external disturbance as well as model uncertainty are treated as the lumped disturbances and estimated via the disturbance observer technique. By strict Lyapunov arguments, all closed-loop signals are proved to be uniformly ultimately bounded (UUB) and the tracking errors of velocity and attitude converge to a residual set around origin. Finally, simulation results are presented to illustrate the validity and superiority of proposed event-based control scheme.

In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose dynamics are six-degree-of-freedom with twelf-state-variables subject to actuator faults and full-state constraints. More precisely, state transformations with the scaling function are devised to keep the involved velocity and attitude within their corresponding constraints. The fixed-time property is obtained in the sense of guaranteeing that the settling time is lower bounded by a positive constant, which is independent of initial states. The actuator faults as well as the network induced errors are handled via the bound estimation approach and well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semiglobally uniformly ultimately bounded, and the tracking errors of velocity and attitude converge to the residual sets around origin within a fixed time.

In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this article proposes an event-triggered cooperative synchronization fault-tolerant control (FTC) methodology for multiple fixed-wing UAVs whose dynamics are six-degree-of-freedom (DOF) with twelf-state-variables subject to actuator faults, modeling uncertainties, and external disturbances. More precisely, an event-triggering mechanism is devised to determine the time instants of updating control signals, which reduces the signal transmission burden, while saving on system resources. The Zeno phenomenon is excluded in the sense of guaranteeing that the time between two consecutive switchings is lower bounded by a positive constant. The actuator faults as well as the network induced errors are handled via the bound estimation approach and some well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semi-globally uniformly ultimately bounded (SGUUB) and the synchronization tracking errors of speed and attitude converge to a residual set around origin whose size can be made arbitrarily small through selecting appropriate design parameters.

The impact of spatial and temporal variability of rainfall on hydrological response remains poorly understood, in particular in urban catchments due to their strong variability in land use, a high degree of imperviousness and the presence of stormwater infrastructure. In this study, we analyze the effect of storm scale, position and movement in relation to basin scale and flow-path network structure on urban hydrological response. A catalog of 279 peak events was extracted from a high-quality observational dataset covering 15 years of flow observations and radar rainfall data for five (semi)urbanized basins ranging from 7.0 to 111.1km2 in size. Results showed that the largest peak flows in the event catalog were associated with storm core scales exceeding basin scale, for all except the largest basin. Spatial scale of flood-producing storm events in the smaller basins fell into two groups: Storms of large spatial scales exceeding basin size or small, concentrated events, with storm core much smaller than basin size. For the majority of events, spatial rainfall variability was strongly smoothed by the flow-path network, increasingly so for larger basin size. Correlation analysis showed that position of the storm in relation to the flow-path network was significantly correlated with peak flow in the smallest and in the two more urbanized basins. Analysis of storm movement relative to the flow-path network showed that direction of storm movement, upstream or downstream relative to the flow-path network, had little influence on hydrological response. Slow-moving storms tend to be associated with higher peak flows and longer lag times. Unexpectedly, position of the storm relative to impervious cover within the basins had little effect on flow peaks. These findings show the importance of observation-based analysis in validating and improving our understanding of interactions between the spatial distribution of rainfall and catchment variability.

We examine urban flood response through data-driven analyses for a diverse sample of “small” watersheds (basin scale ranging from 7.0 to 111.1 km²) in the Charlotte Metropolitan region. These watersheds have experienced extensive urbanization and suburban development since the 1960s. The objective of this study is to develop a broad characterization of land surface and hydrometeorological controls of urban flood hydrology. Our analyses are based on peaks-over-threshold flood data developed from USGS streamflow observations and are motivated by problems of flood hazard characterization for urban regions. We examine flood-producing rainfall using high-resolution (1 km² spatial resolution and 15 min time resolution), bias-corrected radar rainfall fields that are developed through the Hydro-NEXRAD system. The analyses focus on the 2001–2015 period. The results highlight the complexities of urban flood response. There are striking spatial heterogeneities in flood peak magnitudes, response times, and runoff ratios across the study region. These spatial heterogeneities are mainly linked to watershed scale, the distribution of impervious cover, and storm water management. Contrasting land surface properties also determine the mixture of flood-generating mechanisms for a particular watershed. Warm-season thunderstorm systems and tropical cyclones are main flood agents in Charlotte, with winter/spring storms playing a role in less-urbanized watersheds. The mixture of flood agents exerts a strong impact on the upper tail of flood frequency distributions. Antecedent watershed wetness plays a minor role in urban flood response, compared with less-urbanized watersheds. Implications for flood hazard characterization in urban watersheds and for advances in flood science are discussed.