Print Email Facebook Twitter Distributed Coordinated Control for Fixed-Wing UAVs with Dynamic Event-Triggered Communication Title Distributed Coordinated Control for Fixed-Wing UAVs with Dynamic Event-Triggered Communication Author Zhang, Boyang (Air Force Engineering University China) Sun, Xiuxia (Air Force Engineering University China) Lv, Maolong (TU Delft Team DeSchutter) Liu, Shuguang (Air Force Engineering University China) Date 2022 Abstract Compared with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this paper proposes an event-based fault-tolerant coordinated control (FTC) for multiple fixed-wing UAVs such that the consensus tracking of velocity and attitude is achieved in the presence of actuator faults, external disturbances and modeling uncertainties. More precisely, as opposed to static event-triggered communication mechanisms, a dynamic event-triggered communication mechanism (DECM) is devised to schedule the connected communications while avoiding the unnecessary information exchanges among UAVs, which reduces the communication burden and saves on the network resources. Meanwhile, the Zeno phenomenon is excluded in terms of guaranteeing that the period between two consecutive triggering communication is lower bounded by a positive constant. Moreover, the actuator fault, external disturbance as well as model uncertainty are treated as the lumped disturbances and estimated via the disturbance observer technique. By strict Lyapunov arguments, all closed-loop signals are proved to be uniformly ultimately bounded (UUB) and the tracking errors of velocity and attitude converge to a residual set around origin. Finally, simulation results are presented to illustrate the validity and superiority of proposed event-based control scheme. Subject ActuatorsAerodynamicsAttitude controlDynamic event-triggered communication mechanismFault toleranceFault tolerant systemsfault-tolerant controlfixed-wing unmanned aerial vehiclesNonlinear dynamical systemsVehicle dynamics To reference this document use: http://resolver.tudelft.nl/uuid:1658a135-40cd-4d2f-9f24-9866ce1022ed DOI https://doi.org/10.1109/TVT.2022.3140771 ISSN 0018-9545 Source IEEE Transactions on Vehicular Technology, 71 (5), 4665-4676 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2022 Boyang Zhang, Xiuxia Sun, Maolong Lv, Shuguang Liu Files PDF Distributed_Coordinated_C ... cation.pdf 1.82 MB Close viewer /islandora/object/uuid:1658a135-40cd-4d2f-9f24-9866ce1022ed/datastream/OBJ/view