Distributed Fault Estimation and Fixed-Time Fault-Tolerant Formation Control for Multi-UAVs subject to Sensor Faults

• Published in: Journal of intelligent & robotic systems Vol. 105; no. 4; p. 80
• Main Authors: Han, Bing, Jiang, Ju, Yu, Chaojun, Cao, Teng
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.08.2022; Springer; Springer Nature B.V
• Subjects: Analysis; Artificial Intelligence; Control; Control systems design; Drone aircraft; Electrical Engineering; Engineering; Error compensation; Fault detection; Fault tolerance; Faults; Measuring instruments; Mechanical Engineering; Mechatronics; Neural networks; Position measurement; Position sensing; Radial basis function; Robotics; Sensors; Short Paper; Stability analysis; Topical collection on Unmanned Systems; Topology; Unmanned aerial vehicles; Velocity measurement; Multiple unmanned aerial vehicles; Sensor fault; Fixed-time control; Fault-tolerant formation control
• ISSN: 0921-0296; 1573-0409
• DOI: 10.1007/s10846-022-01698-x

This paper develops a fault estimation-based fixed-time fault-tolerant formation control strategy for multiple unmanned aerial vehicles under the case of sensor faults and directed connective communication topology. Four common types of sensor faults on position and velocity measurement channels are considered simultaneously, which are only assumed to be bounded. For monitoring the occurrence of sensor faults, a fault detection observer is developed using H ∞ approach. Then, the amplitude of the sensor fault is reconstructed by the modified adaptive radial basis function neural network-based cooperative fault estimation observer, which is triggered by the fault alarm from fault detection observer. Furthermore, a novel sliding mode-based distributed fault-tolerant formation controller is designed to compensate the effects of faults using the estimated fault information, where the unknown bounded fault compensation error and lumped disturbances are explicitly taken into consideration. Additionally, the fixed-time stability of the whole formation system is analyzed based on Lyapunov approach. Finally, a comparative simulation is performed to illustrate the performance and superiority of the proposed scheme.