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

Journal article (2022)

Authors

Boyang Zhang Air Force Engineering University China
Xiuxia Sun Air Force Engineering University China
Maolong Lv Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , Air Force Engineering University China
Shuguang Liu Air Force Engineering University China
Le Li Northwestern Polytechnical University
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Boyang Zhang, Xiuxia Sun, Maolong Lv, Shuguang Liu, Le Li
DOI
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https://doi.org/10.1109/JSYST.2021.3128973
Convergence Uncertainty Aerodynamics Fault tolerance Vehicle dynamics Actuators Fault tolerant systems Fault-tolerant control (FTC) Fixed-time convergence Full-state constraints Six-degree-of-freedom (DOF) fixed-wing unmanned aerial vehicles (UAVs)
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

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.