Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

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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

“…is the smooth function defined as (32). Lumping all of NN weight vectors, approximation errors and filtering error together, the time derivative of (70) along (69) can be computed as…”

Section: Rotational Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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

Zhou

Dong

Chen

et al. 2023

Self Cite

“…The consensus problem of multi‐agent systems (MASs) has aroused extensive attention from many academic communities owing to its potential applications in a great number of areas such as smart power grids, 1‐4 traffic flow control, 5 underwater vehicles, 6 and unmanned air vehicles 7‐9 . The MASs are a class of very important large‐scale intelligent systems, which achieve the overall control goal through coordination among subsystems 10 .…”

Section: Introductionmentioning

confidence: 99%

“…The consensus problem of multi-agent systems (MASs) has aroused extensive attention from many academic communities owing to its potential applications in a great number of areas such as smart power grids, [1][2][3][4] traffic flow control, 5 underwater vehicles, 6 and unmanned air vehicles. [7][8][9] The MASs are a class of very important large-scale intelligent systems, which achieve the overall control goal through coordination among subsystems. 10 The communication bandwidth resource constraint is always an important factor affecting communication efficiency when the subsystems interact with each other through the communication network.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive dynamic memory‐event‐triggered attitude control for nonlinear multi‐UAVs resist actuator hysteresis

Shao

2023

SummaryThis article studies the memory‐based dynamic event‐triggered (MBDET) robust adaptive fuzzy control problem for a class of uncertain nonlinear MASs subject to Backlash‐Like Hysteresis. The considered MASs are modeled as a class of nonlinear leader‐following multiagent systems with multiple inputs for each subsystem, which can be used to model multiple multi‐rotor unmanned aerial vehicle (Multi‐UAV) attitude systems. In the framework of backstepping recursive design, the fuzzy approximation technology, the parameter estimation technology, and the first‐order filtering technology are integrated, and an effective fuzzy adaptive control method is proposed, which solves the problems of Backlash‐Like Hysteresis and external disturbances in the system while avoiding the “explosion of complexity”. In order to relieve the communication pressure of Multi‐UAV attitude systems, a novel dynamic memory‐event‐triggered mechanism (DMETM) based on user‐set parameters is developed. Compared with the traditional event‐triggered mechanism, this DMETM has larger triggering time intervals, effectively reduces communication frequency, and has greater flexibility in balancing system performance and communication bandwidth resource constraints. The closed‐loop stability analysis scheme for Multi‐UAV attitude systems is presented by combining the backstepping recursive design technique and Lyapunov stability theory, which proves that closed‐loop stability and tracking performance can be ensured. Finally, the design method is successfully applied to show the effectiveness of the proposed method to solve the dynamic memory‐event‐triggered attitude control problem for nonlinear Multi‐UAVs.

A Novel Nonsingular Fast Fixed‐Time Sliding Mode Control and Its Application to Satellite Attitude Control

Barman,

Sinha

2024

In this paper, a Lyapunov‐like sufficient condition for the fast fixed‐time stability of autonomous systems is proposed. The proposed fast fixed‐time stability theorem ensures a smaller upper bound on the convergence time than the existing fixed‐time stability theorems. The fixed‐time sliding mode controls require switching from the fixed‐time sliding surface to the general sliding surface in the vicinity of the origin to avoid non‐differentiability at that point. It is demonstrated that the switching method converges the system states either to a residual set around the equilibrium point or directly to the equilibrium point, depending on the tuning parameter settings. To address this issue, a new nonsingular sliding surface is proposed based on the fast fixed‐time stability theorem. This approach ensures singularity‐free convergence of the system states to the equilibrium point without additional switching logic for the sliding surfaces or any constraints on tuning parameters. Furthermore, a novel continuous adaptive fast fixed‐time sliding mode control (AFFTSMC) law is proposed for attitude control of a satellite in the presence of the satellite inertia uncertainty and unknown upper‐bounded external disturbance torques. The proposed AFFTSMC law ensures chattering‐free and singularity‐free satellite attitude control. Simulation results are presented for both rest‐to‐rest and tracking attitude maneuvers of a satellite, demonstrating the superiority of the proposed controller.