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作者:

Lv, Maolong (Lv, Maolong.) | Ahn, Choon Ki (Ahn, Choon Ki.) | Zhang, Boyang (Zhang, Boyang.) | Fu, Anqi (Fu, Anqi.)

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EI Scopus SCIE

摘要:

This article proposes a distributed fixed-time fault-tolerant control methodology for networked six-degree-of-freedom fixed-wing unmanned aerial vehicles (UAVs) whose models are subjected to actuator faults and saturation. Two fixed-time antisaturation control strategies are developed for velocity and attitude channels. Notably, the adverse effects of actuator faults (e.g., lock-in-place and loss of effectiveness) and actuator saturation can be effectively compensated for by means of a new adaptive-gain-based design. This feature differs significantly from most of the existing fault-tolerant control schemes. A fixed-time-based sliding-mode surface is delicately embedded in the control design in order to provide the attitude channel with the fixed-time tracking property. Model uncertainties and external disturbances can be effectively handled by using a bound estimation method and smooth functions. On the basis of Lyapunov stability theory, the closed-loop system is shown to be stable in the sense of the fixed-time concept. Actuator saturations are rigorously enforced, and the tracking errors of velocity and attitude converge to a residual set around the origin within a fixed time in spite of model uncertainties, external disturbances, and actuator faults. Numerical examples are carried out to validate the effectiveness of the theoretical findings.

关键词:

actuator saturation Actuators Control design Convergence Fault tolerance Autonomous aerial vehicles Attitude control fixed-time control Fault tolerant systems Actuator failure unmanned aerial vehicles

作者机构:

  • [ 1 ] [Lv, Maolong]Air Force Engn Univ, Coll Air Traff Control & Nav, Xian 710051, Peoples R China
  • [ 2 ] [Ahn, Choon Ki]Korea Univ, Sch Elect Engn, Seoul 136701, South Korea
  • [ 3 ] [Zhang, Boyang]Beijing Blue Sky Sci & Technol Innovat Ctr, Beijing 100010, Peoples R China
  • [ 4 ] [Fu, Anqi]Beijing Univ Technol, Beijing Lab Smart Environm Protect, Beijing 100124, Peoples R China
  • [ 5 ] [Fu, Anqi]Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China

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来源 :

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS

ISSN: 0018-9251

年份: 2023

期: 6

卷: 59

页码: 8812-8825

4 . 4 0 0

JCR@2022

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