Fault Tolerant Cooperative Control for Heterogeneous Multiple UAVs

The fault tolerant cooperative control problem of heterogeneous multiple UAVs with additive actuation faults and external disturbances is explored in this paper. A distributed control protocol based on adaptive control is proposed to ensure the boundedness of attitude synchronization errors of heterogeneous UAVs with directed topology graph in the presence of faults. The effectiveness of the proposed control strategies is verified via a simulation study.

[1]  Dong-Juan Li,et al.  Adaptive Neural Tracking Control for an Uncertain State Constrained Robotic Manipulator With Unknown Time-Varying Delays , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[2]  Wei Wang,et al.  Cooperative control for consensus of multi-agent systems with actuator faults , 2014, Comput. Electr. Eng..

[3]  Khashayar Khorasani,et al.  A Distributed Control Reconfiguration and Accommodation for Consensus Achievement of Multiagent Systems Subject to Actuator Faults , 2016, IEEE Transactions on Control Systems Technology.

[4]  Yuezu Lv,et al.  Distributed PI Control for Consensus of Heterogeneous Multiagent Systems Over Directed Graphs , 2020, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[5]  Guo-Xing Wen,et al.  Observer-Based Adaptive Backstepping Consensus Tracking Control for High-Order Nonlinear Semi-Strict-Feedback Multiagent Systems , 2016, IEEE Transactions on Cybernetics.

[6]  K. Khorasani,et al.  Cooperative actuator fault accommodation in formation flight of unmanned vehicles using absolute measurements , 2012 .

[7]  Jie Huang,et al.  Leader-following adaptive consensus of multiple uncertain rigid spacecraft systems , 2015, Science China Information Sciences.

[8]  Khashayar Khorasani,et al.  Optimal hybrid fault recovery in a team of unmanned aerial vehicles , 2012, Autom..

[9]  Junquan Li,et al.  Decentralized Fault-Tolerant Control for Satellite Attitude Synchronization , 2012, IEEE Transactions on Fuzzy Systems.

[10]  H.-T. Liu,et al.  Synchronised trajectory-tracking control of multiple 3-DOF experimental helicopters , 2005 .

[11]  Wei Ren,et al.  Multi-vehicle consensus with a time-varying reference state , 2007, Syst. Control. Lett..

[12]  Khashayar Khorasani,et al.  Team Consensus for a Network of Unmanned Vehicles in Presence of Actuator Faults , 2010, IEEE Transactions on Control Systems Technology.

[13]  Youmin Zhang,et al.  Fault‐tolerant formation control of multiple UAVs in the presence of actuator faults , 2016 .

[14]  Frank L. Lewis,et al.  Robust Adaptive Fault-Tolerant Control of Multiagent Systems With Uncertain Nonidentical Dynamics and Undetectable Actuation Failures , 2015, IEEE Transactions on Industrial Electronics.

[15]  Hasan Mehrjerdi,et al.  A survey on multiple unmanned vehicles formation control and coordination: Normal and fault situations , 2013, 2013 International Conference on Unmanned Aircraft Systems (ICUAS).

[16]  Mario di Bernardo,et al.  Distributed PID Control for Consensus of Homogeneous and Heterogeneous Networks , 2014, IEEE Transactions on Control of Network Systems.

[17]  Li Yu,et al.  Cooperative Fault Tolerant Tracking Control for Multiagent Systems: An Intermediate Estimator-Based Approach , 2018, IEEE Transactions on Cybernetics.

[18]  Khashayar Khorasani,et al.  Cooperative actuator fault accommodation in formation flight of unmanned vehicles using relative measurements , 2011, Int. J. Control.

[19]  Wei Wang,et al.  Decentralized backstepping adaptive output tracking of large-scale stochastic nonlinear systems , 2017, Science China Information Sciences.

[20]  Huijun Gao,et al.  Robust output-feedback attitude control of a three-degree-of-freedom helicopter via sliding-mode observation technique , 2015 .

[21]  Marios M. Polycarpou,et al.  Distributed adaptive fault-tolerant control of uncertain multi-agent systems , 2015, Autom..

[22]  Z. Qu,et al.  Cooperative Control of Dynamical Systems: Applications to Autonomous Vehicles , 2009 .