Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

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

2022

In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this article proposes an event-triggered cooperative synchronization fault-tolerant control (FTC) methodology for multiple fixed-wing UAVs whose dynamics are six-degree-of-freedom (DOF) with twelf-state-variables subject to actuator faults, modeling uncertainties, and external disturbances. More precisely, an event-triggering mechanism is devised to determine the time instants of updating control signals, which reduces the signal transmission burden, while saving on system resources. The Zeno phenomenon is excluded in the sense of guaranteeing that the time between two consecutive switchings is lower bounded by a positive constant. The actuator faults as well as the network induced errors are handled via the bound estimation approach and some well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semi-globally uniformly ultimately bounded (SGUUB) and the synchronization tracking errors of speed and attitude converge to a residual set around origin whose size can be made arbitrarily small through selecting appropriate design parameters.

Actuators
Aerodynamics
Angular velocity
Attitude control
Nonlinear dynamical systems
Synchronization
Vehicle dynamics

http://resolver.tudelft.nl/uuid:b34ab1cd-5302-46e0-ab30-b3ec4fee9a24

https://doi.org/10.1109/TVT.2021.3129267

2023-07-01

0018-9545

IEEE Transactions on Vehicular Technology, 71 (1), 148-161

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, Shuguang Liu, Maolong Lv, Xiongfeng Deng