Decentralized finite-time adaptive fault-tolerant synchronization tracking control for multiple UAVs with prescribed performance

This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.

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Disturbance observer-based fault-tolerant attitude tracking control for rigid spacecraft with finite-time convergence

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410017740918 ◽

2017 ◽

Vol 233 (2) ◽

pp. 616-628 ◽

Cited By ~ 2

Author(s):

Qun Zong ◽

Xiuyun Zhang ◽

Shikai Shao ◽

Bailing Tian ◽

Wenjing Liu

Keyword(s):

Finite Time ◽

Tracking Control ◽

Disturbance Observer ◽

Fault Tolerant ◽

Sliding Mode ◽

Terminal Sliding Mode ◽

Nonsingular Terminal Sliding Mode ◽

Attitude Tracking ◽

Rigid Spacecraft ◽

Attitude Tracking Control

In this paper, finite-time fault-tolerant attitude tracking control is investigated for rigid spacecraft system with external disturbances, inertia uncertainties and actuator faults. A novel finite-time disturbance observer combined with a nonsingular terminal sliding mode controller is developed. Using an equivalent output error injection approach, a finite-time disturbance observer with simple structure is firstly designed to estimate lumped uncertainty. Then, to remove the requirement of prior knowledge about lumped uncertainty and reduce chattering, an adaptive finite-time disturbance observer is further proposed, and the estimations converge to the neighborhood of the true values. Based on the designed observer, a unified finite-time attitude controller is obtained automatically. Finally, both additive and multiplicative faults are considered for simulations and the results illustrate the great fault-tolerant capability of the proposed scheme.

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Finite-time fault-tolerant attitude tracking control for spacecraft without unwinding

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410018772385 ◽

2018 ◽

Vol 233 (6) ◽

pp. 2119-2130 ◽

Cited By ~ 6

Author(s):

Bing Huang ◽

Ai-jun Li ◽

Yong Guo ◽

Chang-qing Wang ◽

Jin-hua Guo

Keyword(s):

Finite Time ◽

Tracking Control ◽

Fault Tolerant ◽

Sliding Mode ◽

External Disturbances ◽

Terminal Sliding Mode ◽

Attitude Tracking ◽

Control Schemes ◽

Fast Terminal Sliding Mode ◽

Attitude Tracking Control

This paper investigates the finite-time attitude tracking control problem for spacecraft in the presence of external disturbances and actuator faults. Two anti-unwinding attitude tracking control schemes have been proposed based on the rotation matrix and sliding mode control technology. Utilizing a fast terminal sliding mode surface, the first controller can fulfill the finite-time attitude tracking control task with disturbance rejection ability. The second controller can improve the system reliability when the actuator fault occurs. Rigorous mathematical analysis and proof concludes that the proposed controllers can make a spacecraft track the desired attitude command in finite time. Numerical simulation results are presented to demonstrate the effectiveness of the proposed controllers.

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