Finite time fault tolerant tracking control for multiple unmanned aerial vehicles with actuator faults

Abstract

An adaptive fast nonsingular integral terminal sliding mode control scheme is proposed for the distributed formation control problem of multiple unmanned aerial vehicles (UAVs) affected by actuator faults and external disturbances.In order to achieve a good cooperative tracking performance of UAVs during mission execution, the adverse effect of the lumped disturbances composed of actuator failures, wind and vortex disturbances is estimated by the cerebellar model articulation neural network, meanwhile the tangent function is introduced to eliminate the chattering of the sliding mode. Then the analysis of superior convergence performance of the fast nonsingular integral terminal sliding manifold is implemented, and the finite time stability of the closed-loop formation flight control system is proved. Finally, the simulation experiments verify that the proposed approach is superior to the nonsingular integral terminal sliding mode control for the formation control system of faulty multiple UAVs.

Neural network–based optimal fault compensation control of the nonlinear multi-agent system and its application to UAVs formation flight

“…18 Taking model uncertainties and external disturbances into account, a robust FTC approach is designed for a quadrotor UAV, 19 and the adaptive sliding mode controller is presented to realize cooperative tracking of UAVs affected by the lumped disturbances. 20 According to the plugging operations, a cooperative FTC strategy is designed to ensure each agent follows reference signals. 21 The problems of input saturations and uncertainties are considered, and the distributed adaptive FTC method is developed based on a discontinuous communication protocol to ensure the stability of UAVs.…”