Distributed Coordinated Control for Fixed-Wing UAVs with Dynamic Event-Triggered Communication

Distributed Coordinated Control for Fixed-Wing UAVs with Dynamic Event-Triggered Communication

Zhang, Boyang (Air Force Engineering University China)
Sun, Xiuxia (Air Force Engineering University China)
Lv, Maolong (TU Delft Team Bart De Schutter)
Liu, Shuguang (Air Force Engineering University China)

2022

Compared with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this paper proposes an event-based fault-tolerant coordinated control (FTC) for multiple fixed-wing UAVs such that the consensus tracking of velocity and attitude is achieved in the presence of actuator faults, external disturbances and modeling uncertainties. More precisely, as opposed to static event-triggered communication mechanisms, a dynamic event-triggered communication mechanism (DECM) is devised to schedule the connected communications while avoiding the unnecessary information exchanges among UAVs, which reduces the communication burden and saves on the network resources. Meanwhile, the Zeno phenomenon is excluded in terms of guaranteeing that the period between two consecutive triggering communication is lower bounded by a positive constant. Moreover, the actuator fault, external disturbance as well as model uncertainty are treated as the lumped disturbances and estimated via the disturbance observer technique. By strict Lyapunov arguments, all closed-loop signals are proved to be uniformly ultimately bounded (UUB) and the tracking errors of velocity and attitude converge to a residual set around origin. Finally, simulation results are presented to illustrate the validity and superiority of proposed event-based control scheme.

Actuators
Aerodynamics
Attitude control
Dynamic event-triggered communication mechanism
Fault tolerance
Fault tolerant systems
fault-tolerant control
fixed-wing unmanned aerial vehicles
Nonlinear dynamical systems
Vehicle dynamics

http://resolver.tudelft.nl/uuid:1658a135-40cd-4d2f-9f24-9866ce1022ed

https://doi.org/10.1109/TVT.2022.3140771

2023-07-01

0018-9545

IEEE Transactions on Vehicular Technology, 71 (5), 4665-4676

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

journal article

© 2022 Boyang Zhang, Xiuxia Sun, Maolong Lv, Shuguang Liu