Abstract
This paper investigates fault-tolerant time-varying formation tracking control problems for unmanned aerial vehicle (UAV) swarm systems with switching topologies. Actuator faults such as loss of effectiveness and bias fault are mainly considered. Firstly, based on graph theory, an adaptive fault-tolerant time-varying formation tracking control protocol is constructed with adaptive updating parameters and the relative information of the neighboring UAVs, and the feasibility condition for formation tracking is given. The control protocol does not depend on the information of the actuator fault boundary by using adaptive technology. Then, by constructing a reasonable Lyapunov function and solving the algebraic Riccati equation, the stability of the designed controller is proved. For UAV swarm systems with switching topologies and actuator faults, the formation tracking control protocol designed is adopted to enable the followers form the desired time-varying formation and track the leader’s status at the same time. Finally, the simulation examples are given to illustrate the effectiveness of the theoretical results.
Highlights
Formation control of UAV swarm systems has received extensive attention because it can be wildly applied in many fields, such as surveillance [1], targets search [2], cooperative attack [3], coordinated localization [4], and drag reduction [5]. ere are many classic control strategies used to solve the formation control problem of UAV swarm systems, such as the leader-follower [6], behaviour-based strategy [7], and virtual structure [8]
For large-scale UAV swarm systems, it is difficult to design a centralized formation control protocol because of the limitations of computation and communication. us, how to construct a fully distributed controller to solve the formation control problem is a hot issue in current research
In response to the aforementioned control problem, a novel adaptive time-varying formation tracking control scheme is proposed for the UAV swarm systems with the actuator faults and switching topologies
Summary
Formation control of UAV swarm systems has received extensive attention because it can be wildly applied in many fields, such as surveillance [1], targets search [2], cooperative attack [3], coordinated localization [4], and drag reduction [5]. ere are many classic control strategies used to solve the formation control problem of UAV swarm systems, such as the leader-follower [6], behaviour-based strategy [7], and virtual structure [8]. E work in [19] has designed a time-varying formation control protocol for UAV swarm systems under Markovian switching topologies with partially unknown transition rates. A distributed adaptive fault-tolerant control protocol has been designed to solve the formation control problem of multiple trailing fixed-wing UAV systems in the event of actuator faults in [22]. E work in [23] has studied the time-varying formation tracking problem of second-order multiagent systems in the case of actuator faults and noncooperative targets. In response to the aforementioned control problem, a novel adaptive time-varying formation tracking control scheme is proposed for the UAV swarm systems with the actuator faults and switching topologies. (2) In the case of the UAV swarm systems with actuator faults, the followers can still accomplish the desired time-varying formation and track the state of the leader.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
