Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions

Liu, Bojian; Li, Aijun; Guo, Yong

doi:10.1016/j.ast.2021.107252

Cited by 23 publications

(11 citation statements)

References 42 publications

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“…It is able to handle external disturbances and system failures simultaneously, making it more robust than current methods that only consider one constraint at a time (Ullah et al , 2022; Yu et al , 2022). The use of event triggering allows for a reduction in the number of control updates, increasing the efficiency of the system and reducing the communication and computational requirements. The finite-time adaptive control component of the proposed method allowed the system to adapt to changing conditions and disturbances, improving its ability to maintain formation under varying environment as compared to current methods (Liu et al , 2022). The proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network, making it more flexible than current methods that are specific to certain conditions.…”

Section: Introductionmentioning

confidence: 99%

Formation fault-tolerant control for multiple UAVs with external disturbances

Ma,

Gong,

Wang

2024

AEAT

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Purpose The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations. Design/methodology/approach First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance. Findings It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy. Originality/value A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.

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Section: Introductionmentioning

confidence: 99%

Formation fault-tolerant control for multiple UAVs with external disturbances

Ma,

Gong,

Wang

2024

AEAT

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“…Neglecting non‐smooth input nonlinearities may lead to deterioration of system performance, even disastrous consequences, which brings challenges to control design 25 . Up to now, there have been many constructive results devoted to these issues 26‐29 . In Reference 26, adaptive distributed finite‐time formation control has been proposed for multi‐UAVs system with input saturation.…”

Section: Introductionmentioning

confidence: 99%

“…25 Up to now, there have been many constructive results devoted to these issues. [26][27][28][29] In Reference 26, adaptive distributed finite-time formation control has been proposed for multi-UAVs system with input saturation. Under the assumption that the dead-zone slopes are constants, the adaptive tracking controllers have been developed for a class of nonlinear systems.…”

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confidence: 99%

Distributed synchronization control for multiple tailless flying‐wing UAVs with predefined tracking accuracy and input nonlinearities

Zhou

Dong

Chen

et al. 2023

Intl J Robust & Nonlinear

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This article addresses the distributed adaptive synchronization tracking control problem for multiple flying-wing UAVs with predefined accuracy and unknown input nonlinearities. Considering that the multiple flying-wing unmanned aerial vehicles (UAVs) system is a large-scale nonlinear and strongly coupled system, the control schemes in existing literature which only consider longitudinal, lateral or attitude control may not be applicable in practical engineering. Thus, a full-state flying-wing UAV model containing both translational and rotational motions is established, whose dynamics are six-degree-of-freedom with twelve-state-variables. Furthermore, to handle the problem that the prior knowledge of the actuator nonlinearities of multi-UAV system are difficult to obtain, a more general input nonlinear model is established and the adaptive boundary estimation technique is developed. Finally, a performance-oriented controller is proposed by incorporating a series of smooth functions into adaptive neural control design and Lyapunov analysis. Theoretical analysis and simulation resultsshow that the presented control scheme can guarantee the satisfactory transient tracking error performance, and the tracking error converges to a user-defined interval ultimately. K E Y W O R D Sadaptive neural control, predefined accuracy, six-degree-of-freedom (6-DoF) flying-wing UAV, unknown input nonlinearities INTRODUCTIONThe tailless flying-wing aircraft has received widespread attention because of the special aerodynamic configuration.Compared with their tailed counterparts, flying-wing aircraft has more advantages in improving lift-to-drag ratio, extending aircraft range, and reducing the radar cross-section (RCS) due to the adoption of blended-wing-body design and the elimination of vertical and horizontal tails. [1][2][3] Special layout makes tailless flying-wing aircraft very promising in both military and civilian fields, but also brings new challenges for flight control. The short moment arm and lack of horizontal tail may lead to the bad longitudinal stability. Meanwhile, the cancellation of vertical tail results in poor lateralAbbreviations: 6-DoF, six-degree-of-freedom; UAVs, unmanned aerial vehicles

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“…In [ 24 ], anti-windup compensators are employed against input saturations of a linear MAS. In [ 25 ], an auxiliary dynamic system is introduced to address the saturation problem for multiple UAVs. On the other hand, due to safe operation or system-specific requirements, certain UAV system states must be constrained.…”

Section: Introductionmentioning

confidence: 99%

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

Zhao

Zhu

Zhang

2022

Sensors

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This paper investigates the problem of formation fault-tolerant control of multiple quadrotors (QRs) for a mobile sensing oriented application. The QRs subject to faults, input saturation and time-varying delays can be controlled to perform a target-enclosing and covering task while guaranteeing the state constraints will not be exceeded. A distributed formation control scheme is proposed, using a radial basis function neural network (RBFNN)-based time-delay position controller and an adaptive fault-tolerant attitude controller. The Lyapunov–Krasovskii approach is used to analyze the time-varying delay. Barrier Lyapunov function is deployed to handle the prescribed constraints, and an auxiliary system combined with a command filter is designed to resolve the saturation problem. An RBFNN and adaptive estimators are deployed to provide estimates of disturbances, fault signals and uncertainties. It is proven that all the closed-loop signals are bounded under the proposed protocol, while the prescribed constraints will not be violated, which enhances the flight safety and QR formation’s applicability. Comparative simulations based on application scenarios further verify the effectiveness of the proposed method.

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Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions

Cited by 23 publications

References 42 publications

Formation fault-tolerant control for multiple UAVs with external disturbances

Formation fault-tolerant control for multiple UAVs with external disturbances

Distributed synchronization control for multiple tailless flying‐wing UAVs with predefined tracking accuracy and input nonlinearities

Target Enclosing and Coverage Control for Quadrotors with Constraints and Time-Varying Delays: A Neural Adaptive Fault-Tolerant Formation Control Approach

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