In this paper, the super-twisting sliding mode-based distributed adaptive fault-tolerant attitude tracking control strategy is proposed for multiple unmanned aerial vehicles (UAVs) with prescribed performance. For each follower UAV in the formation team, a distributed sliding-mode observer is first created to estimate the reference. The disturbance observer is then designed to observe for uncertainties and actuator faults. The neural networks are further utilized to identify the disturbance observer error. Moreover, prescribed performance functions are used to constrain the tracking errors with respect to the estimated references from the distributed sliding-mode observer. Furthermore, adaptive super-twisting sliding mode mechanism is utilized to facilitate the fault-tolerant control design. It is demonstrated that all UAVs can track the desired reference using the Lyapunov method, and that the prescribed performance constraints contain and limit the tracking errors. Finally, simulations are conducted to verify the effectiveness of the proposed scheme.
Distributed Super-Twisting Sliding Mode Adaptive Fault-Tolerant Control for Multiple UAVs with Prescribed Performance
Lect. Notes Electrical Eng.
Chinese Conference on Swarm Intelligence and Cooperative Control ; 2023 ; Nanjing, China November 24, 2023 - November 27, 2023
Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control ; Chapter : 55 ; 650-661
2024-06-15
12 pages
Article/Chapter (Book)
Electronic Resource
English
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