scholarly journals Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Ran Zhen ◽  
Yating Jin ◽  
Xiaojing Wu ◽  
Xueli Wu ◽  
Xuan Lv
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Time Varying ◽  
Actuator Faults ◽  
Control Protocol ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Uav Swarm ◽  
Aerial Vehicle

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.

Time-varying formation finite-time tracking control for multi-UAV systems under jointly connected topologies

2017 ◽  
Vol 10 (4) ◽  
pp. 478-490 ◽  
Author(s):  
Tianyi Xiong ◽  
Zhiqiang Pu ◽  
Jianqiang Yi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Formation Control ◽  
Time Varying ◽  
Content Type ◽  
Finite Time Stability ◽  
Control Protocol ◽  
Finite Time Convergence ◽  
Switching Topologies ◽  
Formation Tracking

Purpose The purpose of this paper is to investigate the time-varying finite-time formation tracking control problem for multiple unmanned aerial vehicle systems under switching topologies, where the states of the unmanned aerial vehicles need to form desired time-varying formations while tracking the trajectory of the virtual leader in finite time under jointly connected topologies. Design/methodology/approach A consensus-based formation control protocol is constructed to achieve the desired formation. In this paper, the time-varying formation is specified by a piecewise continuously differentiable vector, while the finite-time convergence is guaranteed by utilizing a non-linear function. Based on the graph theory, the finite-time stability of the close-loop system with the proposed control protocol under jointly connected topologies is proven by applying LaSalle’s invariance principle and the theory of homogeneity with dilation. Findings The effectiveness of the proposed protocol is verified by numerical simulations. Consequently, the proposed protocol can successfully achieve the predefined time-varying formation in finite time under jointly connected topologies while tracking the trajectory generated by the leader. Originality/value This paper proposes a solution to simultaneously solve the control problems of time-varying formation tracking, finite-time convergence, and switching topologies.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

Finite-time distributed formation tracking control of multi-UAVs with a time-varying reference trajectory

2017 ◽  
Vol 35 (4) ◽  
pp. 1297-1318 ◽  
Author(s):  
Wei Zhao ◽  
Renfu Li ◽  
Huaipin Zhang
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Formation Flight ◽  
Reference Trajectory ◽  
Time Varying ◽  
Consensus Control ◽  
Formation Tracking ◽  
Distributed Framework ◽  
Aerial Vehicle ◽  
Control Protocols

Abstract This article studies finite-time distributed formation tracking control of a second-order multi-unmanned aerial vehicle (UAV) system. To reduce the burden of the system’s computation and communication, a distributed framework is designed in the control of the formation configuration, in which a time-varying reference trajectory is known by the following UAVs as exogenous input that decides the UAVs moving target. Then, time-triggered and event-triggered consensus control protocols are proposed and theoretically proved to achieve the formation flight in finite time. Finally, a numerical simulation is conducted for the formation tracking control of a typical multi-UAV system to validate the effectiveness of the proposed control protocols.

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