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.
Distributed Average Tracking for Heterogeneous Multiple UAV Systems with Actuator Faults
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022
2023-01-31
10 pages
Article/Chapter (Book)
Electronic Resource
English
Adaptive reliable output tracking of networked control systems against actuator faults
BASE | 2017
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