Fixed-Time Adaptive Distributed Fault-Tolerant Cooperative Control for Multiple Quad-rotors

This paper explores a fixed-time adaptive distributed fault-tolerant cooperative control strategy for multiple quadrotors subject to actuator faults. The explosion of complexity phenomenon is removed in a fixed time by the command filter. To surmount the filtering error influence, the fixed-time err...

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Bibliographic Details
Published in2023 6th International Symposium on Autonomous Systems (ISAS) pp. 1 - 6
Main Authors Xu, Hui, Cui, Guozeng
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.06.2023
Subjects
Actuators
command filtered backstepping
Error compensation
Fault tolerance
Fault tolerant systems
fault-tolerant control
Filtering
Filtering algorithms
fixed-time control
multiple quad-rotors
Upper bound
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DOI10.1109/ISAS59543.2023.10164367

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Summary:This paper explores a fixed-time adaptive distributed fault-tolerant cooperative control strategy for multiple quadrotors subject to actuator faults. The explosion of complexity phenomenon is removed in a fixed time by the command filter. To surmount the filtering error influence, the fixed-time error compensation signals are constructed. Furthermore, the singularity problem is subtly avoided via a smooth piecewise function. It is proved that all closed-loop signals are bounded in a fixed time and that the cooperative tracking errors fixed-time converge to the neighboring range of the origin. A simulation example reveals the validity of the developed fixed-time distributed fault-tolerant cooperative control algorithm.
DOI:10.1109/ISAS59543.2023.10164367