Thrust loss faults and external disturbances may be encountered by multiple unmanned aerial vehicles (multi-UAVs) and threaten flight safety. Based on finite-time sliding-mode control (SMC), a fault-tolerant cooperative control (FTCC) is designed for multi-UAVs against thrust loss fault and external disturbances in this paper. Firstly, the dynamic model and the thrust loss fault model are introduced. Secondly, the distributed sliding-mode observer (DSMO) is employed to observe the position of virtual leader. A finite-time extended state observer (FTESO) is adopted to estimate the total unknowns. Then, follower UAVs can follow up with the virtual leader with finite-time convergent synchronous tracking errors. Finally, the performance of proposed controller is illustrated in simulations.
Distributed Finite-Time Fault-Tolerant Cooperative Control of Multiple UAVs Against Thrust Loss Fault and External Disturbances
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
Formation fault-tolerant control for multiple UAVs with external disturbances
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