Abstract
This paper is concerned with the distributed finite-time formation strategy for fixed-wing unmanned aerial vehicles subject to uncertainties, disturbances and actuator faults. A finite-time control scheme based upon command filtered backstepping is proposed and an error compensation system is constructed to attenuate influences caused by filtering errors. Radial basis function neural network is exploited to approximate uncertainties. Furthermore, to solve the adverse effects due to actuator faults, the adaptive law is utilized to estimate partial loss of effectiveness. In addition, a Lyapunov-based stability is analyzed to demonstrate that tracking errors are finite-time convergent. Ultimately, simulation results are given to validate that our proposed strategy can achieve excellent performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Poksawat, P., Wang, L.P., Mohamed, A.: Gain scheduled attitude control of fixed-wing UAV with automatic controller tuning. IEEE Trans. Control Syst. Technol. 26(4), 1192–1203 (2018)
Dong, X.W., Hua, Y.Z., Zhou, Y., Ren, Z., Zhong, Y.S.: Theory and experiment on formation-containment control of multiple multirotor unmanned aerial vehicle systems. IEEE Trans. Autom. Sci. Eng. 16(1), 229–240 (2019)
Chen, J.X., Li, J.M., Yuan, X.X.: Global fuzzy adaptive consensus control of unknown nonlinear multiagent systems. IEEE Trans. Fuzzy Syst. 28(3), 510–522 (2020)
Wang, R.: Adaptive output-feedback time-varying formation tracking control for multi-agent systems with switching directed networks. J. Franklin Inst. 357(1), 551–568 (2020)
Zou, W.C., Ahn, C.K., Xiang, Z.R.: Fuzzy-approximation-based distributed fault-tolerant consensus for heterogeneous switched nonlinear multiagent systems. IEEE Trans. Fuzzy Syst. 29(10), 2916–2925 (2021)
Zhou, N., Xia, Y.Q.: Distributed fault-tolerant control design for spacecraft finite-time attitude synchronization. Int. J. Robust Nonlinear Control 26(14), 2994–3017 (2016)
Yu, Z.Q., Qu, Y.H., Zhang, Y.M.: Distributed fault-tolerant cooperative control for multi-UAVs under actuator fault and input saturation. IEEE Trans. Control Syst. Technol. 27(6), 2417–2429 (2019)
Acknowledgements
This work was supported by the National Natural Science Foundation of China under Grants 62173180 and 62020106003, Outstanding Youth Foundation of Jiangsu Province of China under Grant BK20200015, Qing Lan Project of Jiangsu Province of China, the Fundamental Research Funds for the Central Universities under Grants NE2022002 and NC2022003, Postgraduate Research and Practice Innovation Program of Jiangsu Province of China under Grant KYCX22_0368.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Fang, F., Zhang, K., Cheng, W., Jiang, B. (2023). Distributed Finite-Time Fault-Tolerant Control Based on Command Filtered Backstepping for Multiple Fixed-Wing Unmanned Aerial Vehicles. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_140
Download citation
DOI: https://doi.org/10.1007/978-981-19-6613-2_140
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-19-6612-5
Online ISBN: 978-981-19-6613-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)