Adaptive fault-tolerant formation control for quadrotors with actuator faults

被引：21
|
作者：
Liu, Wanzhang [1 ]
Zhang, Ke [1 ]
Jiang, Bin [1 ]
Yan, Xinggang [2 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Peoples R China
[2] Univ Kent, Sch Engn & Digital Arts, Canterbury, Kent, England
来源：
ASIAN JOURNAL OF CONTROL | 2020年 / 22卷 / 03期
基金：
中国国家自然科学基金;
关键词：
adaptive control; fault-tolerant control; formation control; quadrotor; MULTIAGENT SYSTEMS; ATTITUDE-CONTROL; TRACKING; DESIGN; OBSERVER; SUBJECT;
D O I：
10.1002/asjc.2008
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we investigate the fault-tolerant formation control of a group of quadrotor aircrafts with a leader. Continuous fault-tolerant formation control protocol is constructed by using adaptive updating mechanism and boundary layer theory to compensate actuator fault. Results show that the desired formation pattern and trajectory under actuator fault can be achieved using the proposed fault-tolerant formation control. A simulation is conducted to illustrate the effectiveness of the method.
引用
收藏
页码：1317 / 1326
页数：10
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