Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints

This paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation, full-state constraints, actuator faults, and unknown dynamics. Firstly, by considering physical limitations, an auxiliary control signal is design...

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Published inInternational Journal of Aerospace Engineering Vol. 2022; pp. 1 - 18
Main Authors Fu, Minrui, Xu, Yiwei, Yu, Ziquan, Zhang, Youmin
Format Journal Article
LanguageEnglish
Published New York Hindawi 05.10.2022
John Wiley & Sons, Inc
Wiley
Subjects
Actuators
Adaptive control
Aerospace engineering
Communication
Communications networks
Constraints
Cooperative control
Design
Disturbance observers
Fault tolerance
Flying-machines
Fuzzy logic
Investigations
Neural networks
Parameter uncertainty
Saturation
Set theory
Signal processing
Unmanned aerial vehicles
Online AccessGet full text
ISSN1687-5966
1687-5974
DOI10.1155/2022/8385913

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Abstract This paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation, full-state constraints, actuator faults, and unknown dynamics. Firstly, by considering physical limitations, an auxiliary control signal is designed to simplify the analysis process. Secondly, to avoid the difficulty in the back-stepping design caused by full-state constraints, virtual control signals are constructed to transform constrained variables, while the dynamic surface control is adopted to avoid the phenomenon of “differential explosion.” Thirdly, a disturbance observer (DO) is designed to estimate the unknown uncertainty caused by parameter uncertainty and actuator fault. Moreover, a recurrent wavelet fuzzy neural network (RWFNN) is used to compensate for the estimation errors of DO. Finally, it is proved that all states are uniformly ultimately bounded (UUB) by Lyapunov and invariant set theory. The effectiveness of the proposed scheme is further demonstrated by the simulation results.
AbstractList This paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation, full-state constraints, actuator faults, and unknown dynamics. Firstly, by considering physical limitations, an auxiliary control signal is designed to simplify the analysis process. Secondly, to avoid the difficulty in the back-stepping design caused by full-state constraints, virtual control signals are constructed to transform constrained variables, while the dynamic surface control is adopted to avoid the phenomenon of “differential explosion.” Thirdly, a disturbance observer (DO) is designed to estimate the unknown uncertainty caused by parameter uncertainty and actuator fault. Moreover, a recurrent wavelet fuzzy neural network (RWFNN) is used to compensate for the estimation errors of DO. Finally, it is proved that all states are uniformly ultimately bounded (UUB) by Lyapunov and invariant set theory. The effectiveness of the proposed scheme is further demonstrated by the simulation results.
Audience Academic
Author Fu, Minrui
Yu, Ziquan
Zhang, Youmin
Xu, Yiwei
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  organization: Department of MechanicalIndustrial and Aerospace EngineeringConcordia UniversityMontrealQuebecCanadaH3G 1M8concordia.ca
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Copyright Copyright © 2022 Minrui Fu et al.
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Copyright © 2022 Minrui Fu et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0
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Snippet This paper proposes a fault-tolerant cooperative control (FTCC) scheme for multiple UAVs in a distributed communication network against input saturation,...
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SubjectTerms Actuators
Adaptive control
Aerospace engineering
Communication
Communications networks
Constraints
Cooperative control
Design
Disturbance observers
Fault tolerance
Flying-machines
Fuzzy logic
Investigations
Neural networks
Parameter uncertainty
Saturation
Set theory
Signal processing
Unmanned aerial vehicles
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Title Decentralized Adaptive Fault-Tolerant Cooperative Control for Multiple UAVs with Input Saturation and State Constraints
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