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
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
基金supported in part by National Natural Science Foundation of China(Nos.61833013,62003162,62020106003,61873055)Natural Science Foundation of Jiangsu Province of China(No.BK20200416)+4 种基金China Postdoctoral Science Foundation(Nos.2020TQ0151,2020M681590)State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang,China(No.2019-KF-23-05)111 ProjectChina(No.B20007)Natural Sciences and Engineering Research Council of Canada.
文摘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.
基金This work is supported by the National Natural Science Foundation of China under the Grants 62020106003,61922042,and 61773201the Fundamental Research Funds for the Central Universities of China under the Grants NC2020002 and NP2020103+2 种基金the 111 Project of the Programme of Introducing Talents of Discipline to Universities of China under the Grant B20007,the 13th Five-Year Equipment Pre-research Projects of China under the Grant 30501050403the Science Foundation of Science and Technology on Space Intelligent Control Laboratory of China under the Grant 6142208180201the Joint Foundation of Equipment Advance Research and Aerospace Science and Technology of China under the Grant 6141B060910.
文摘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.
