Fractional order PID-based adaptive fault-tolerant cooperative control of networked unmanned aerial vehicles against actuator faults and wind effects with hardware-in-the-loop experimental validation. (September 2021)

• Record Type: Journal Article
• Authors: Yu, Ziquan; Zhang, Youmin; Jiang, Bin; Su, Chun-Yi; Fu, Jun; Jin, Ying; Chai, Tianyou
• Is Part Of: Control engineering practice. Volume 114(2021)
• Publication Date: 2021-09
• Subjects: Unmanned aerial vehicles (UAVs) -- Fault-tolerant cooperative control (FTCC) -- Fractional order control -- Proportional–integral–derivative (PID) -- Actuator faults -- Recurrent neural networks; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2021.104861
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: This paper proposes an adaptive fault-tolerant cooperative control (FTCC) scheme for networked unmanned aerial vehicles (UAVs) in the presence of actuator faults and wind effects by artfully introducing fractional order calculus, proportional–integral–derivative (PID), and recurrent neural networks. Fractional order sliding-mode surface and PID-type error mapping are first utilized to transform the synchronization tracking errors of all UAVs into a new set of errors. Then, based on these newly constructed errors, an FTCC scheme is developed to synchronously track their references. Moreover, Butterworth low-pass filter (BLF) and recurrent neural network (RNN) learning strategies are assimilated to handle the unknown terms induced by the actuator faults and wind effects. Finally, theoretical analysis and comparative hardware-in-the-loop experimental demonstrations have shown the effectiveness of the proposed control scheme.