Prescribed performance-based distributed fault-tolerant cooperative control for multi-UAVs

2018 ◽  
Vol 41 (4) ◽  
pp. 975-989 ◽  
Author(s):  
Ziquan Yu ◽  
Youmin Zhang ◽  
Yaohong Qu
Keyword(s):  
Cooperative Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Input Saturation ◽  
Dynamic Surface Control ◽  
Tracking Errors ◽  
Dynamic Surface ◽  
Prescribed Performance ◽  
Surface Control ◽  
Control Scheme

In this paper, a prescribed performance-based distributed neural adaptive fault-tolerant cooperative control (FTCC) scheme is proposed for multiple unmanned aerial vehicles (multi-UAVs). A distributed sliding-mode observer (SMO) technique is first utilized to estimate the leader UAV’s reference. Then, by transforming the tracking errors of follower UAVs with respect to the estimated references into a new set, a distributed neural adaptive FTCC protocol is developed based on the combination of dynamic surface control (DSC) and minimal learning parameters of neural network (MLPNN). Moreover, auxiliary dynamic systems are exploited to deal with input saturation. Furthermore, the proposed control scheme can guarantee that all signals of the closed-loop system are bounded, and tracking errors of follower UAVs with respect to the estimated references are confined within the prescribed bounds. Finally, comparative simulation results are presented to illustrate the effectiveness of the proposed distributed neural adaptive FTCC scheme.

Attitude and height tracking control of unmanned helicopters with disturbances via disturbance observer-based composite dynamic surface control

2021 ◽  
pp. 014233122110232
Author(s):  
Xiangyu Wang ◽  
Ling Han ◽  
Jiyu Liu
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Control Design ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Tracking Errors ◽  
Dynamic Surface ◽  
Surface Control ◽  
Control Scheme ◽  
Tracking Controller

In this paper, the attitude and height tracking control problem is studied for unmanned helicopters with disturbances. To solve the problem, a composite control scheme is proposed based on the combination of dynamic surface control and disturbance observer-based control techniques. The control design includes two parts. In the first part, some nonlinear disturbance observers are designed to accurately estimate the helicopter’s disturbances in different channels. In the second part, based on the disturbance estimates and dynamic surface control technique, a composite dynamic surface tracking controller is designed. Under the proposed composite controller, the attitude and height tracking errors are uniformly ultimately bounded and they can be regulated to be very small by selecting proper controller parameters. For one thing, the proposed control scheme avoids “explosion of terms”, which generally exists in conventional backstepping control and provides a simpler control design. For another thing, without sacrificing the nominal control performances, the anti-disturbance ability of the closed-loop helicopter system is enhanced by using disturbance observers and feedforward compensations. Numerical simulations demonstrate the effectiveness and advantages of the proposed composite tracking controller.

scholarly journals Neural observer-based path following control for underactuated unmanned surface vessels with input saturation and time-varying disturbance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987807
Author(s):  
Lei Wan ◽  
Jiangfeng Zeng ◽  
Yueming Li ◽  
Hongde Qin ◽  
Lei Zhang ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
External Disturbance ◽  
Input Saturation ◽  
Path Following ◽  
Dynamic Surface Control ◽  
Dynamic Surface ◽  
Surface Control ◽  
Surface Vessels ◽  
Path Following Control ◽  
Control Scheme

In this study, a new neural observer-based dynamic surface control scheme is proposed for the path following of underactuated unmanned surface vessels in the presence of input saturation and time-varying external disturbance. The dynamic surface control technique is augmented by a robust adaptive radial basis function neural network and a nonlinear neural disturbance observer. Radial basis function neural network is employed to deal with system uncertainties, and the nonlinear neural disturbance observer is developed to compensate for the unknown compound disturbance that contains the input saturation approximation error and the external disturbance. Moreover, the stringent known boundary requirement of the unknown disturbance constraint is eliminated with the proposed nonlinear neural disturbance observer. Meanwhile, to deal with the non-smooth saturation nonlinearity, a new parametric hyperbolic tangent function approximation model with arbitrary prescribed precision is constructed, which results in the transient performance improvement for the path following control system. Stability analysis shows that all the signals in the closed-loop system are guaranteed to be ultimately bounded. Comparative simulation results further demonstrate the effectiveness of the proposed control scheme.

A novel adaptive dynamic surface control scheme of hypersonic flight vehicles with thrust and actuator constraints

2017 ◽  
Vol 40 (4) ◽  
pp. 1362-1374 ◽  
Author(s):  
Shen Zhang ◽  
Qing Wang ◽  
Chaoyang Dong
Keyword(s):  
Control Method ◽  
Dynamic Surface Control ◽  
Tracking Errors ◽  
Dynamic Surface ◽  
Hypersonic Flight ◽  
Flight Vehicles ◽  
Surface Control ◽  
Adaptive Law ◽  
Control Scheme ◽  
Actuator Constraints

In this paper, the nonlinear adaptive velocity and altitude tracking controller is developed for the longitudinal dynamics of generic air-breathing hypersonic flight vehicles. The proposed control scheme is designed using dynamic surface control method. The velocity and altitude subsystems are transformed into the linearly parameterized form for the convenience of adaptive law design. Both of the thrust and actuator constraints are explicitly considered. For thrust constraint, two cases are analyzed when the fuel-to-air ratio reaches its max and min values. A novel adaptive law is proposed to avoid over or less estimation in thrust saturation occasion. For actuator constraint, a magnitude and rate limiting filter is incorporated. The filter guarantees that the control signal is applicable for the actuator. It is shown that with the application of the proposed control scheme, all signals of the closed-loop system are uniformly ultimately bounded and the velocity and altitude tracking errors converge to a residual set which is arbitrarily small. Simulation results are demonstrated to show the effectiveness and superiority of the proposed control scheme.

Distributed Adaptive Fault-Tolerant Cooperative Control for Multi-UAVs Against Actuator and Sensor Faults

2017 ◽  
Author(s):  
Ziquan Yu ◽  
Yaohong Qu ◽  
Youmin Zhang ◽  
Yintao Zhang
Keyword(s):  
Cooperative Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Technique ◽  
Sensor Faults ◽  
External Disturbances ◽  
Dynamic Surface ◽  
Common Reference ◽  
Control Scheme ◽  
The Common

In this paper, a distributed adaptive fault-tolerant cooperative control (FTCC) scheme is developed for flying multiple unmanned aerial vehicles (UAVs) with consideration of actuator and sensor faults. The communication network is an undirected, fixed topology and only a subset of UAVs has access to the common reference. By using a sliding-mode observer, the common reference is estimated by each UAV. The lumped uncertainties including external disturbances, actuator and sensor faults are estimated by an adaptive mechanism. On the basis of the estimated reference and lumped uncertainties, dynamic surface control technique is utilized to eliminate the computational burden inherent in the traditional backstepping control architecture. The highlight is that external disturbances, actuator and sensor faults are considered in the distributed control scheme for multi-UAVs simultaneously. By using graph theory and Lyapunov-based method, it is proved that all signals in the closed-loop system are bounded. Furthermore, simulation results are exhibited to demonstrate the effectiveness of the proposed control scheme.

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