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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ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 6–9, 2017
Cleveland, Ohio, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5823-3
PROCEEDINGS PAPER
Distributed Adaptive Fault-Tolerant Cooperative Control for Multi-UAVs Against Actuator and Sensor Faults
Ziquan Yu,
Ziquan Yu
Northwestern Polytechnical University, Xi’an, China
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Yaohong Qu,
Yaohong Qu
Northwestern Polytechnical University, Xi’an, China
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Youmin Zhang,
Youmin Zhang
Concordia University, Montreal, QC, Canada
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Yintao Zhang
Yintao Zhang
Concordia University, Montreal, QC, Canada
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Ziquan Yu
Northwestern Polytechnical University, Xi’an, China
Yaohong Qu
Northwestern Polytechnical University, Xi’an, China
Youmin Zhang
Concordia University, Montreal, QC, Canada
Yintao Zhang
Concordia University, Montreal, QC, Canada
Paper No:
DETC2017-67637, V009T07A057; 6 pages
Published Online:
November 3, 2017
Citation
Yu, Z, Qu, Y, Zhang, Y, & Zhang, Y. "Distributed Adaptive Fault-Tolerant Cooperative Control for Multi-UAVs Against Actuator and Sensor Faults." Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Cleveland, Ohio, USA. August 6–9, 2017. V009T07A057. ASME. https://doi.org/10.1115/DETC2017-67637
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