Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

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

2022

In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose dynamics are six-degree-of-freedom with twelf-state-variables subject to actuator faults and full-state constraints. More precisely, state transformations with the scaling function are devised to keep the involved velocity and attitude within their corresponding constraints. The fixed-time property is obtained in the sense of guaranteeing that the settling time is lower bounded by a positive constant, which is independent of initial states. The actuator faults as well as the network induced errors are handled via the bound estimation approach and well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semiglobally uniformly ultimately bounded, and the tracking errors of velocity and attitude converge to the residual sets around origin within a fixed time.

Actuators
Aerodynamics
Convergence
Fault tolerance
Fault tolerant systems
Fault-tolerant control (FTC)
fixed-time convergence
full-state constraints
six-degree-of-freedom (DOF) fixed-wing unmanned aerial vehicles (UAVs)
Uncertainty
Vehicle dynamics

http://resolver.tudelft.nl/uuid:9c71a11e-4f1e-4ec8-869b-15a7d3bcc50b

https://doi.org/10.1109/JSYST.2021.3128973

2023-07-01

1932-8184

IEEE Systems Journal, 16 (3), 4792-4803

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, Le Li