Details

Autor(en) / Beteiligte

• Yang, Zhongyu
• Yu, Ziquan
• Zhang, Youmin
• Cheng, Yuehua
• Xu, Guili
• Duan, Haibin
• Yan, Liang
• Deng, Yimin

Titel

Distributed Finite-Time Fault-Tolerant Cooperative Control of Multiple UAVs Against Thrust Loss Fault and External Disturbances

Ist Teil von

• Advances in Guidance, Navigation and Control, 2023, Vol.845, p.3060-3069

Ort / Verlag

Singapore: Springer

Erscheinungsjahr

2023

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• Thrust loss faults and external disturbances may be encountered by multiple unmanned aerial vehicles (multi-UAVs) and threaten flight safety. Based on finite-time sliding-mode control (SMC), a fault-tolerant cooperative control (FTCC) is designed for multi-UAVs against thrust loss fault and external disturbances in this paper. Firstly, the dynamic model and the thrust loss fault model are introduced. Secondly, the distributed sliding-mode observer (DSMO) is employed to observe the position of virtual leader. A finite-time extended state observer (FTESO) is adopted to estimate the total unknowns. Then, follower UAVs can follow up with the virtual leader with finite-time convergent synchronous tracking errors. Finally, the performance of proposed controller is illustrated in simulations.