Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Zhang, Boyang; Sun, Xiuxia; Lv, Maolong; Liu, Shuguang; Li, Le

doi:10.1109/JSYST.2021.3128973

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Title

Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Author

Zhang, Boyang (Air Force Engineering University China)
Sun, Xiuxia (Air Force Engineering University China)
Lv, Maolong (TU Delft Team DeSchutter; Air Force Engineering University China)
Liu, Shuguang (Air Force Engineering University China)
Li, Le (Northwestern Polytechnical University)

Date

2022

Abstract

In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose dynamics are six-degree-of-freedom with twelf-state-variables subject to actuator faults and full-state constraints. More precisely, state transformations with the scaling function are devised to keep the involved velocity and attitude within their corresponding constraints. The fixed-time property is obtained in the sense of guaranteeing that the settling time is lower bounded by a positive constant, which is independent of initial states. The actuator faults as well as the network induced errors are handled via the bound estimation approach and well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semiglobally uniformly ultimately bounded, and the tracking errors of velocity and attitude converge to the residual sets around origin within a fixed time.

Subject

Actuators
Aerodynamics
Convergence
Fault tolerance
Fault tolerant systems
Fault-tolerant control (FTC)
fixed-time convergence
full-state constraints
six-degree-of-freedom (DOF) fixed-wing unmanned aerial vehicles (UAVs)
Uncertainty
Vehicle dynamics