Finite time fault tolerant tracking control for multiple unmanned aerial vehicles with actuator faults. (25th September 2022)

• Record Type: Journal Article
• Authors: Qian, Moshu; Wu, Zhu; Zhang, Zhen; Bo, Cuimei
• Is Part Of: International journal of adaptive control and signal processing. Volume 36:Number 12(2022)
• Page Start: 3142
• Page End: 3160
• Publication Date: 2022-09-25
• Subjects: cerebellar model articulation neural network -- nonsingular integral terminal sliding mode control -- unmanned aerial vehicle; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.3507
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: An adaptive fast nonsingular integral terminal sliding mode control scheme is proposed for the distributed formation control problem of multiple unmanned aerial vehicles (UAVs) affected by actuator faults and external disturbances. In order to achieve a good cooperative tracking performance of UAVs during mission execution, the adverse effect of the lumped disturbances composed of actuator failures, wind and vortex disturbances is estimated by the cerebellar model articulation neural network, meanwhile the tangent function is introduced to eliminate the chattering of the sliding mode. Then the analysis of superior convergence performance of the fast nonsingular integral terminal sliding manifold is implemented, and the finite time stability of the closed‐loop formation flight control system is proved. Finally, the simulation experiments verify that the proposed approach is superior to the nonsingular integral terminal sliding mode control for the formation control system of faulty multiple UAVs.