Consensus tracking control with transient performance improvement for a group of unmanned aerial vehicles subject to faults and parameter uncertainty. Issue 4 (3rd April 2019)

• Record Type: Journal Article
• Authors: Wang, Qishao; Huang, Di; Duan, Zhisheng; Wang, Jingyao
• Is Part Of: International journal of control. Volume 92:Issue 4(2019)
• Page Start: 796
• Page End: 815
• Publication Date: 2019-04-03
• Subjects: Multi-agent systems -- parameter uncertainty -- transient performance -- observer-type protocol; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2017.1370555
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: This paper considers the consensus tracking synthesised with transient performance improvement problem for a network of unmanned aerial vehicles with faults. In practical situations, the parameter variations, modelling errors and disturbances are of particular interest. Thus, it is assumed that the dynamics of vehicles are subject to parameter uncertainty. As the main contribution of this paper, a set of fault-estimator-based protocols is proposed to drive the overall network performance below the given H ∞ synthesised with transient performance index. Sufficient conditions for designing the protocols which utilise the relative output information among neighbouring vehicles are given by applying the robust control theory. Simulations are performed to validate the proposed results.