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Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology 被引量:9
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作者 Jianye Gong Yajie Ma +1 位作者 Bin Jiang Zehui Mao 《Guidance, Navigation and Control》 2021年第1期1-24,共24页
In this paper,the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle(UAV)and unmanned ground vehicle(UGV)systems with actuator loss of effectiveness faults is... In this paper,the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle(UAV)and unmanned ground vehicle(UGV)systems with actuator loss of effectiveness faults is investigated.The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classi-ed into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers.The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired prede-ned height.Then,based on synchronization formation error information,the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation con-guration.The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault.Finally,a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme. 展开更多
关键词 Cooperative formation control fault-tolerant control heterogeneous dynamics
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The Formation and Development of a Share-Holding Cooperative Economy in Rural China
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作者 郭铁民 林善浪 《Social Sciences in China》 1996年第4期61-68,194,共9页
关键词 The formation and Development of a Share-Holding Cooperative Economy in Rural China
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A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles 被引量:22
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作者 Ziquan YU Youmin ZHANG +2 位作者 Bin JIANG Jun FU Ying JIN 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2022年第1期1-18,I0001,共19页
This paper presents the recent developments in Fault-Tolerant Cooperative Control(FTCC)of multiple unmanned aerial vehicles(multi-UAVs).To facilitate the analyses of FTCC methods for multi-UAVs.the formation control s... This paper presents the recent developments in Fault-Tolerant Cooperative Control(FTCC)of multiple unmanned aerial vehicles(multi-UAVs).To facilitate the analyses of FTCC methods for multi-UAVs.the formation control strategies under fault-free flight conditions of multi-UAVs are first summarized and analyzed,including the leader-following,behavior-based,virtual structure,collision avoidance,algebraic graph-based,and close formation control methods,which are viewed as the cooperative control methods for multi-UAVs at the pre-fault stage.Then,by considering the various faults encountered by the multi-UAVs,the state-of-the-art developments on individual,leader-following,and distributed FTCC schemes for multi-UAVs are reviewed in detail.Finally,conclusions and challenging issues towards future developments are presented. 展开更多
关键词 Cooperative Fault Detection and Diagnosis(CFDD) Cooperative/formation/swarm control Fault Detection and Diagnosis(FDD) Fault-Tolerant Control(FTC) Fault-Tolerant Cooperative Control(FTCC) Unmanned Aerial Vehicles(UAVs)
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