RETRACTED: Fractional order adaptive robust formation control of multiple quad-rotor UAVs with parametric uncertainties and wind disturbances

Ullah, Nasim; Mehmood, Yasir; Aslam, Jawad; Wang, Shaoping; Phoungthong, Khamphe

doi:10.1016/j.cja.2021.10.012

Cited by 13 publications

(6 citation statements)

References 44 publications

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“…Our main contributions are: Designed an event-triggered finite-time adaptive fault-tolerant formation controller for nonlinear multiple UAVs. 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).…”

Section: Introductionmentioning

confidence: 99%

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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%

“…Designed an event-triggered finite-time adaptive fault-tolerant formation controller for nonlinear multiple UAVs. 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).…”

Section: Introductionmentioning

confidence: 99%

Formation fault-tolerant control for multiple UAVs with external disturbances

Ma,

Gong,

Wang

2024

AEAT

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“…An adaptive fractional-order SMC method is designed for quadrotors leader-follower formation control. 22 Zhao et al 23 designed an integral sliding mode controller for quadrotor with a nonlinear extended observer and verified the efficient wind resistance by outdoor flight.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fast nonsingular terminal sliding mode tracking control for quadrotor with disturbances compensation and actuator saturation

Wei

Jiang

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper designs the double closed-loop control system combining nonlinear disturbances observers (NDOB) and an adaptive fast nonsingular terminal sliding mode (AFNTSM) for the tracking control problem of quadrotor under external disturbances, actuator saturation and unmodeled dynamics. The NDOB-AFNTSM method avoids the singularity problem. To compensate for disturbances, an adaptive strategy estimates the unknown bound of NDOB errors and the unknown bound of disturbances. Besides, new fast reaching law shortens convergence times. The dead zone method is chosen to avoid over-estimation and system divergence. Considering actuator saturation, this paper uses an anti-saturation auxiliary compensator to compensate for unknown saturation errors. System stability is confirmed by the Lyapunov direct method. The simulation results reveal that the proposed method improves convergence speed and accuracy, which is more robuster than similar methods. Finally, two comparative studies for performance indexes in simulation demonstrate the preferable performance of the proposed method.

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“…To maintain a reliable connection, the interconnection should be switchable to accommodate the varying distance between UAVs and possible signal blocking during the formation adjustment [50]. In [51][52][53], the eigenvalues of the Laplacian matrix of networks were required to achieve formation control. However, such global information is hard to obtain in large-scale formations [54].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment

Zhao,

Zhu,

Qin

2023

Aerospace

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This paper investigates a practical time-varying formation control method for quadrotors subjected to disturbances, uncertainties, and switching-directed topologies. A fully distributed formation control scheme is proposed using a linear-velocity independent position controller (LVIPC) and a nonsingular terminal sliding mode attitude controller (NTSMAC). A distributed observer is adopted to eliminate the measurement of linear-velocity states, and only local neighbor states are needed to realize formation flight. A time-varying nonsingular terminal sliding mode manifold is designed to suppress the reaching phase and ensure the finite-time convergence. Adaptive estimators are employed to remove the reliance on the prior knowledge of the upper bound of lumped uncertainties. It is then proven that all the closed-loop signals are bounded under the proposed method. Comparative experimental results based on a practical outdoor hardware solution are presented to confirm the effectiveness of the suggested control algorithm.

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RETRACTED: Fractional order adaptive robust formation control of multiple quad-rotor UAVs with parametric uncertainties and wind disturbances

Cited by 13 publications

References 44 publications

Formation fault-tolerant control for multiple UAVs with external disturbances

Formation fault-tolerant control for multiple UAVs with external disturbances

Adaptive fast nonsingular terminal sliding mode tracking control for quadrotor with disturbances compensation and actuator saturation

Adaptive Robust Time-Varying Formation Control of Quadrotors under Switching Topologies: Theory and Experiment

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