Abstract
AbstractThe average tracking control problem for heterogeneous multiple unmanned aerial vehicle (UAV) systems with both multiplicative and additive actuator faults is investigated. First, since the average of time-varying reference signals is unknown, distributed filters are designed for each UAV to estimate them. Then with the estimation results, a fault tolerant average tracking control algorithm is proposed to drive each UAV to track the average signals even despite both multiplicative and additive actuator faults. Specifically, by utilizing robust adaptive control, both faults and the heterogeneous Lipschitz-like nonlinearities in the dynamics of UAVs are dealt with. As a result, the average tracking errors of each UAV are uniformly ultimately bounded. In the end, a simulation is conducted.KeywordsFault tolerant controlAverage trackingHeterogeneityActuator faultUAV
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