Human-in-The-Loop Consensus Tracking Control for UAV Systems Via an Improved Prescribed Performance Approach

• Published in: IEEE transactions on aerospace and electronic systems Vol. 59; no. 6; pp. 1 - 12
• Main Authors: Chen, Lei, Liang, Hongjing, Pan, Yingnan, Li, Tieshan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive fuzzy control; Aerodynamics; Aerospace electronics; Aircraft; Aircraft control; Attitude control; Autonomous aerial vehicles; consensus tracking; Control systems design; Cooperative control; Flight control systems; Flight safety; human-in-the-loop control; Missions; Safety; Target tracking; Tracking control; Tracking errors; Unmanned aerial vehicles; Unmanned aircraft; unmanned aircraft vehicle
• ISSN: 0018-9251; 1557-9603
• DOI: 10.1109/TAES.2023.3304283

In some crucial consensus tracking missions, the sign of the tracking error is not allowed to change during the tracking process. The existing tracking control schemes are unable to satisfy this requirement. To solve this issue, this work improves the conventional prescribed performance control (PPC) approach and applies it to the cooperative control of unmanned aircraft vehicle (UAV) systems. Moreover, the flight controller design incorporates human decision-making. This hybrid active interaction approach implies that humans and UAVs can execute complex and variable flight missions as a collaborative team. Considering that equipped motors are prone to faults when operating in harsh environments, this paper presents an adaptive fuzzy fault compensation mechanism to ensure the flight safety of UAVs. Finally, the simulation study validates the effectiveness and control advantage of the proposed approach.