Distributed fault-tolerant formation control for multiple unmanned aerial vehicles under actuator fault and intermittent communication interrupt

2021 ◽  
pp. 095965182097908
Author(s):  
Bing Han ◽  
Ju Jiang ◽  
Chaojun Yu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Fault Tolerant ◽  
Input Saturation ◽  
Actuator Faults ◽  
Aerial Vehicles ◽  
Multiple Unmanned Aerial Vehicles ◽  
The Stability ◽  
Intermittent Communication ◽  
Formation System

This article develops a distributed adaptive fault-tolerant formation control scheme for the multiple unmanned aerial vehicles to counteract actuator faults and intermittent communication interrupt, where the issues on control input saturation and mismatched uncertainties are also addressed. The discontinuous communication protocol technique is exploited to achieve the stability of the formation system, if the conditions of dwell time and the rate of communication are satisfied. On the basis of the local information of neighboring unmanned aerial vehicles, a novel distributed adaptive mechanism is designed to estimate the bounds of actuator faults and uncertainties, where the input saturation is explicitly taken into consideration. The stability of the whole formation system under the designed fault-tolerant formation control strategy is analyzed using the Lyapunov approach. Finally, simulation results are presented to illustrate the effectiveness of the proposed scheme.

Fault-Tolerant Formation Control of Unmanned Aerial Vehicles in the Presence of Actuator Faults and Obstacles

2016 ◽  
Vol 04 (03) ◽  
pp. 197-211 ◽  
Author(s):  
Zhixiang Liu ◽  
Chi Yuan ◽  
Xiang Yu ◽  
Youmin Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Actuator Faults ◽  
Outer Loop ◽  
Actuator Failures ◽  
Aerial Vehicles ◽  
Control Scheme ◽  
Multiple Unmanned Aerial Vehicles

This paper presents a leader-follower type of fault-tolerant formation control (FTFC) methodology with application to multiple unmanned aerial vehicles (UAVs) in the presence of actuator failures and potential collisions. The proposed FTFC scheme consists of both outer-loop and inner-loop controllers. First, a leader-follower control scheme with integration of a collision avoidance mechanism is designed as the outer-loop controller for guaranteeing UAVs to keep the desired formation while avoiding the approaching obstacles. Then, an active fault-tolerant control (FTC) strategy for counteracting the actuator failures and also for preventing the healthy actuators from saturation is synthesized as the inner-loop controller. Finally, a group of numerical simulations are carried out to verify the effectiveness of the proposed approach.

Model decomposition-based optimal formation control for multiple unmanned aerial vehicles

2021 ◽  
pp. 014233122110430
Author(s):  
Khan Muhammad Shehzad ◽  
Hao Su ◽  
Gong-You Tang ◽  
Bao-Lin Zhang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Formation Control ◽  
Controller Design ◽  
Feedforward Control ◽  
Position Information ◽  
Model Decomposition ◽  
Aerial Vehicles ◽  
Control Framework ◽  
Multiple Unmanned Aerial Vehicles ◽  
The Stability

This paper deals with the optimal formation control problem based on model decomposition for multiple unmanned aerial vehicles (UAVs). The main contribution of this paper is to integrate the formation control and the trajectory tracking into one unified feedforward control and feedback control framework in an optimal mode. We first establish the dynamic model of the leader-follower UAV formation system, and the communication network topology which only depends on the position information given by the leader. Second, to reduce the complexity of the model, each follower is decomposed into three isolated subsystems. Third, a step-by-step formation controller design scheme decomposed into feedforward control and optimal control of formation control is proposed. Finally, the proposed scheme has been extensively simulated and the results demonstrate the stability and the optimality.

Three-dimensional multiple unmanned aerial vehicles formation control strategy based on second-order consensus

2016 ◽  
Vol 232 (3) ◽  
pp. 481-491 ◽  
Author(s):  
Xu Zhu ◽  
Xun-Xun Zhang ◽  
Mao-De Yan ◽  
Yao-Hong Qu ◽  
Hai Lin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Cooperative Control ◽  
Formation Control ◽  
Three Dimensional ◽  
Second Order ◽  
Guidance Law ◽  
Aerial Vehicles ◽  
Cooperative Guidance ◽  
Consensus Strategy ◽  
Multiple Unmanned Aerial Vehicles

Considering three-dimensional formation control for multiple unmanned aerial vehicles, this paper proposes a second-order consensus strategy by utilizing the position and velocity coordinate variables. To maintain the specified geometric configuration, a cooperative guidance algorithm and a cooperative control algorithm are proposed together to manage the position and attitude, respectively. The cooperative guidance law, which is designed as a second-order consensus algorithm, provides the desired pitch rate, heading rate and acceleration. In addition, a synchronization technology is put forward to reduce the influence of the measurement errors for the cooperative guidance law. The cooperative control law, regarding the output of the cooperative guidance law as its input, is designed by deducing the state-space expression of both the longitudinal and lateral motions. The formation stability is analyzed to give a sufficient and necessary condition. Finally, the simulations for the three-dimensional formation control demonstrate the feasibility and effectiveness of the second-order consensus strategy.

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