Fully distributed adaptive fault-tolerant formation control for octorotors subject to multiple actuator faults

被引：11
|
作者：
Liu, Deyuan [1 ,2 ]
Liu, Hao [1 ,2 ]
Xi, Jianxiang [3 ]
机构：
[1] Beihang Univ, Sch Astronaut, Beijing 100191, Peoples R China
[2] Beihang Univ, Key Lab Spacecraft Design Optimizat & Dynam Simul, Minist Educ, Beijing 100191, Peoples R China
[3] High Tech Inst Xian, Xian 710025, Peoples R China
来源：
AEROSPACE SCIENCE AND TECHNOLOGY | 2021年 / 108卷
基金：
中国国家自然科学基金;
关键词：
Formation control; Adaptive control; Fault-tolerant control; Fully distributed control; Multi-agent system; QUADROTORS; TRACKING; SYSTEMS; UAVS;
D O I：
10.1016/j.ast.2020.106366
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
In this paper, the fault-tolerant formation control for multiple octorotor unmanned aerial vehicles is investigated. A fully distributed adaptive fault-tolerant formation control scheme is presented to achieve a desired formation flight under multiple uncertainties and actuator faults. The developed controller does not require the global information of the constructed communication network and the knowledge of faults. The robust formation system stability under multiple uncertainties and actuator faults is proven by Lyapunov analysis. Simulation results for octorotor formation flying are provided to demonstrate the effectiveness. (C) 2020 Published by Elsevier Masson SAS.
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页数：13
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