Distributed Adaptive Control for UAV Formation With Input Saturation and Actuator Fault

Abstract

The distributed adaptive tracking control schemes are addressed to deal with the formation control problem of multiple unmanned aerial vehicles subject to input saturation, actuator fault, and external disturbance. First, a novel adaptive backstepping control approach associated with a command filter is presented to settle the model uncertainty and input saturation problems. Second, a robust fault-tolerant controller is introduced to tackle the case with external disturbance, actuator fault, and model uncertainty by estimating the upper bounds of the faults and external disturbances. In addition, the proposed controllers enable the asymptotical stability of the closed-loop system in case of undirected interaction graph. Finally, the numerical simulations demonstrate that the proposed approaches are effective for the unmanned aircraft vehicle (UAV) formation system with various constraints.

Distributed fault-tolerant formation control for multiple unmanned aerial vehicles under actuator fault and intermittent communication interrupt

“…Fault-tolerant control (FTC) is an effective way to improve the reliability of all kinds of complex systems including multi-agent systems, 11–18 such as multi-UAVs formation system. 19–25 Therefore, fault-tolerant formation control (FTFC) strategies for multi-UAVs have received much attention. For instance, in Liu et al, 19 a robust-distributed FTFC strategy is developed to achieve aggressive time-varying formation for a group UAV with actuator faults.…”

“…An adaptive FTC scheme based on H -infinity output feedback control is developed in Liu et al 20 for lead-wing close formation flight with actuator faults. Zheng et al 21 investigate a distributed adaptive backstepping control approach to deal with the formation control problem of multi-UAVs with actuator faults. The problem of fault-tolerant cooperative control (FTCC) for multi-UAVs with actuator faults is studied in Li et al, 22 which can compensate the actuator faults using the adaptive sliding mode techniques.…”

“…It is worth noting that all the FTFC/FTCC approaches reported in the above-mentioned papers are only available for the individual actuator constrain case, such as actuator faults and input saturation. 14–25 Another key issue should be addressed in FTFC problem for multi-UAVs is communication network constrains, which is one of the motivations of this article. Particularly, in the event of sensor failures, outage of information transmission channels or distance larger than the effective range between neighboring UAVs, the connectivity of communication network is always intermittent.…”

Distributed Adaptive Fault-Tolerant Control for Spacecraft Formation With Communication Delays

“…In [14], distributed adaptive fault-tolerant coordinated attitude control laws are proposed for the case in which the reference signal is available only to a subset of the spacecraft. In [15], distributed adaptive formation control algorithms for unmanned aerial vehicles in the presence of input saturation, external disturbances and actuator faults are addressed. However, it should be noted that to the best knowledge of the authors, coordinated control schemes for multiple spacecraft with actuator faults and model uncertainty have seldom been considered.…”

An Innovative Control Allocation Framework for a Novel Tiltrotor Aircraft

“…The advantage of redundancy effectors not only allows to optimize some objectives such as minimum energy or drag, but also provides the possibility of improving flight safety. Most research work such as [33][34][35] focus on fault tolerant control after actuator faults happened, which not exploits the potentiality of redundancy effectors before the failure of actuators. The larger wing area and tiltable mechanism of tiltrotor will bring more external disturbance and model uncertainty, which put forward higher security requirement on control.…”