The average tracking control problem for heterogeneous multiple unmanned aerial vehicle (UAV) systems with both multiplicative and additive actuator faults is investigated. First, since the average of time-varying reference signals is unknown, distributed filters are designed for each UAV to estimate them. Then with the estimation results, a fault tolerant average tracking control algorithm is proposed to drive each UAV to track the average signals even despite both multiplicative and additive actuator faults. Specifically, by utilizing robust adaptive control, both faults and the heterogeneous Lipschitz-like nonlinearities in the dynamics of UAVs are dealt with. As a result, the average tracking errors of each UAV are uniformly ultimately bounded. In the end, a simulation is conducted.


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    Title :

    Distributed Average Tracking for Heterogeneous Multiple UAV Systems with Actuator Faults


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Yang, Huiliao (author) / Wang, Junyan (author) / Wang, Diqian (author) / Xiong, Zhaoxiang (author) / Li, Zhengze (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022



    Publication date :

    2023-01-31


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English