Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints
This paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation, full-state constraints, actuator faults, and unknown dynamics. Firstly, by considering physical limitations, an auxiliary control signal is design...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
|
| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2022/8385913 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850161738277715968 |
|---|---|
| author | Minrui Fu Yiwei Xu Ziquan Yu Youmin Zhang |
| author_facet | Minrui Fu Yiwei Xu Ziquan Yu Youmin Zhang |
| author_sort | Minrui Fu |
| collection | DOAJ |
| description | This paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation, full-state constraints, actuator faults, and unknown dynamics. Firstly, by considering physical limitations, an auxiliary control signal is designed to simplify the analysis process. Secondly, to avoid the difficulty in the back-stepping design caused by full-state constraints, virtual control signals are constructed to transform constrained variables, while the dynamic surface control is adopted to avoid the phenomenon of “differential explosion.” Thirdly, a disturbance observer (DO) is designed to estimate the unknown uncertainty caused by parameter uncertainty and actuator fault. Moreover, a recurrent wavelet fuzzy neural network (RWFNN) is used to compensate for the estimation errors of DO. Finally, it is proved that all states are uniformly ultimately bounded (UUB) by Lyapunov and invariant set theory. The effectiveness of the proposed scheme is further demonstrated by the simulation results. |
| format | Article |
| id | doaj-art-fa454b1fc2ae4b9db688437c1df6a569 |
| institution | OA Journals |
| issn | 1687-5974 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-fa454b1fc2ae4b9db688437c1df6a5692025-08-20T02:22:44ZengWileyInternational Journal of Aerospace Engineering1687-59742022-01-01202210.1155/2022/8385913Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State ConstraintsMinrui Fu0Yiwei Xu1Ziquan Yu2Youmin Zhang3College of Automation EngineeringCollege of Automation EngineeringCollege of Automation EngineeringDepartment of MechanicalThis paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation, full-state constraints, actuator faults, and unknown dynamics. Firstly, by considering physical limitations, an auxiliary control signal is designed to simplify the analysis process. Secondly, to avoid the difficulty in the back-stepping design caused by full-state constraints, virtual control signals are constructed to transform constrained variables, while the dynamic surface control is adopted to avoid the phenomenon of “differential explosion.” Thirdly, a disturbance observer (DO) is designed to estimate the unknown uncertainty caused by parameter uncertainty and actuator fault. Moreover, a recurrent wavelet fuzzy neural network (RWFNN) is used to compensate for the estimation errors of DO. Finally, it is proved that all states are uniformly ultimately bounded (UUB) by Lyapunov and invariant set theory. The effectiveness of the proposed scheme is further demonstrated by the simulation results.http://dx.doi.org/10.1155/2022/8385913 |
| spellingShingle | Minrui Fu Yiwei Xu Ziquan Yu Youmin Zhang Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints International Journal of Aerospace Engineering |
| title | Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints |
| title_full | Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints |
| title_fullStr | Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints |
| title_full_unstemmed | Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints |
| title_short | Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints |
| title_sort | decentralized adaptive fault tolerant cooperative control for multiple uavs with input saturation and state constraints |
| url | http://dx.doi.org/10.1155/2022/8385913 |
| work_keys_str_mv | AT minruifu decentralizedadaptivefaulttolerantcooperativecontrolformultipleuavswithinputsaturationandstateconstraints AT yiweixu decentralizedadaptivefaulttolerantcooperativecontrolformultipleuavswithinputsaturationandstateconstraints AT ziquanyu decentralizedadaptivefaulttolerantcooperativecontrolformultipleuavswithinputsaturationandstateconstraints AT youminzhang decentralizedadaptivefaulttolerantcooperativecontrolformultipleuavswithinputsaturationandstateconstraints |