Distributed Fault-Tolerant Cooperative Control for Multi-UAVs Under Actuator Fault and Input Saturation

Tracking and Cooperative Designs of Robot Manipulators Using Adaptive Fixed-Time Fault-Tolerant Constraint Control

“….., n; cstr(τ ji ) = τ ci sign(τ ji ), otherwise. Moreover, the fault control torque is defined as follows [13]:…”

“…Based on the momentum observer for a dual-arm robot without any force/torque sensors [12], a practical collision detection and a coordinated compliance control are obtained. Under actuator fault and input saturation, the cooperative control of multi-UAVs is achieved [13]. In [14], the cooperative control of three quadrotors for transporting an unknown suspended load is accomplished.…”

“…The proposed adaptive finite-time fault-tolerant constrained control (AFTTFTCC) for the tracking control of robot manipulator and the cooperative control of multiple robots with grasped object includes the following advantageous features: (i) without the condition of skew-symmetric matrix (cf., Properties P2 and P3) as compared with some previous studies [3], [4], [21]; (ii) without an extra addition of persistent signal [26] to accelerate the parameter convergence and without the true force feedback [2] to design the cooperative control of multiple robots (see Remark 6); (iii) possessing nonlinear filtering tracking error to shape the system frequency response [34] together with the fault and constrained control torque [13]. (iv) a simplified on-line learning uncertainty compensation (see (15) and Lemma 2) as compared with fuzzy neural approximation [2]- [5], [10], [28] (see Lemma 3 for computational complexity); (v) possessing nonlinear filtering gains increasing to accelerate its tracking ability and to obtain a better noise-endured characteristic [9], [10], [31]- [34] as the operating point is in the vicinity of the zero nonlinear filtering tracking error; (vi) no requirement of state estimator [10], [12] or disturbance observer [14] to simplify the control scheme.…”

Fractional-order intelligent fault-tolerant synchronization tracking control of UAV swarms

“…为确保故障情况下群体无人机编队飞 行的安全性, Xu等人 [29] 和Yu等人 [30] 基于领航-跟随通 信架构, 设计了固定翼无人机容错编队控制方案. 基 于无人机分布式通信架构, 本文作者针对多无人机纵 向跟踪控制 [31] 和纵向有限时间合围控制 [32] 中的容错 协同控制问题展开了研究. Zhao等人 [ [34,35] x F m…”

Adaptive model predictive control with extended state observer for multi‐UAV formation flight

“…Here, the basis of these flight missions is trajectory tracking. To this end, plenty of methods for multi-UAV system have been reported in recent years, including consensus control, 3 model predictive control (MPC), 4 backstepping control, 5 fault-tolerant control, 6 optimal control, 7 and robust control. 8 As mentioned above, MPC has been researched as one of the most popular advanced control schemes applied in UAV formation flight recently.…”