Decentralized fractional-order backstepping fault-tolerant control of multi-UAVs against actuator faults and wind effects

Abstract Concurrent occurrences of actuator faults and wind effects can significantly threaten the flight safety of multiple unmanned aerial vehicles (multi-UAVs). To address this difficult control problem against actuator faults and wind effects, a composite decentralized fractional-order (FO) backstepping adaptive neural fault-tolerant control (FTC) method is presented for the attitude synchronization tracking of multi-UAVs, which is integrated with neural networks (NNs), disturbance observers (DOs), FO calculus, and high-order sliding-mode differentiators (HOSMDs). The distinctive feature of this work is addressing the attitude synchronization tracking control problem with actuator faults and wind effects in a decentralized framework and proposing a composite approximation method for multi-UAVs. It is shown that by using Lyapunov methods the synchronization tracking control is achieved even when multi-UAVs simultaneously encounter wind effects and actuator faults. Comparative simulation results illustrate the theoretical feasibility.

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