This paper investigates the fault-tolerant control (FTC) problem of multiple unmanned aerial vehicles (multi-UAVs) system with time-varying communication delay. The unmanned aerial vehicle (UAV) model has parameter uncertainties and may encounter external disturbances as well as thrust faults. Firstly, an observer is proposed to estimate the desired velocity and position of the follower UAV. Then, an adaptive law is adopted to estimate the lumped equivalent efficiency factor, and it is combined with the sliding mode control (SMC) to formulate an adaptive FTC strategy. Finally, the Lyapunov theory is used to demonstrate the stability of the mentioned observer and controller. Simulations are used to show the effectiveness of the suggested scheme.
Adaptive Fault-Tolerant Control for Multi-UAVs with Time-Varying Communication Delay
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-02
10 pages
Article/Chapter (Book)
Electronic Resource
English
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