1 College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China; School of Automation, Northwestern Polytechnical University, Xi'an 710129, China. Electronic address: yuziquan@nuaa.edu.cn.
2 Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada. Electronic address: ymzhang@encs.concordia.ca.
3 College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China. Electronic address: binjiang@nuaa.edu.cn.
4 School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China. Electronic address: xiangyu_buaa@buaa.edu.cn.
5 State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China. Electronic address: junfu@mail.neu.edu.cn.
6 State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China. Electronic address: jinying@mail.neu.edu.cn.
7 State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China. Electronic address: tychai@mail.neu.edu.cn.

Distributed adaptive fault-tolerant close formation flight control of multiple trailing fixed-wing UAVs.

ISA Trans. 2020 Jul 09;:

Authors: Yu Z, Zhang Y, Jiang B, Yu X, Fu J, Jin Y, Chai T

Abstract

This paper considers the reliable control problem for multiple trailing fixed-wing unmanned aerial vehicles (UAVs) against actuator faults and wake vortices. A distributed adaptive fault-tolerant control (FTC) scheme is proposed by using a distributed sliding-mode estimator, dynamic surface control architecture, neural networks, and disturbance observers. The proposed control scheme can make all trailing fixed-wing UAVs converge to the leading UAV with pre-defined time-varying relative positions even when all trailing UAVs encounter the wake vortices generated by the leading UAV and a portion of trailing UAVs is subjected to the actuator faults. It is shown that under the proposed distributed FTC scheme, the tracking errors of all trailing UAVs with respect to their desired positions are bounded. Comparative simulation results are provided to illustrate the effectiveness of the proposed control scheme.

PMID: 32680604 [PubMed - as supplied by publisher]