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Volume 8 Issue 9
Sep.  2021

IEEE/CAA Journal of Automatica Sinica

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Guowei Dong, Liang Cao, Deyin Yao, Hongyi Li and Renquan Lu, "Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault," IEEE/CAA J. Autom. Sinica, vol. 8, no. 9, pp. 1567-1575, Sept. 2021. doi: 10.1109/JAS.2020.1003605
Citation: Guowei Dong, Liang Cao, Deyin Yao, Hongyi Li and Renquan Lu, "Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault," IEEE/CAA J. Autom. Sinica, vol. 8, no. 9, pp. 1567-1575, Sept. 2021. doi: 10.1109/JAS.2020.1003605

Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault

doi: 10.1109/JAS.2020.1003605
Funds:  This work was partially supported by the National Natural Science Foundation of China (62033003, 62003098), the Local Innovative and Research Teams Project of Guangdong Special Support Program (2019BT02X353), and the China Postdoctoral Science Foundation (2019M662813, 2020T130124, 2020M682614)
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  • Many mechanical parts of multi-rotor unmanned aerial vehicle (MUAV) can easily produce non-smooth phenomenon and the external disturbance that affects the stability of MUAV. For multi-MUAV attitude systems that experience output dead-zone, external disturbance and actuator fault, a leader-following consensus anti-disturbance and fault-tolerant control (FTC) scheme is proposed in this paper. In the design process, the effect of unknown nonlinearity in multi-MUAV systems is addressed using neural networks (NNs). In order to balance out the effects of external disturbance and actuator fault, a disturbance observer is designed to compensate for the aforementioned negative impacts. The Nussbaum function is used to address the problem of output dead-zone. The designed fault-tolerant controller guarantees that the output signals of all followers and leader are synchronized by the backstepping technique. Finally, the effectiveness of the control scheme is verified by simulation experiments.

     

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    Highlights

    • The leader-following consensus anti-disturbance and fault-tolerant control scheme is developed for the multi-MUAV attitude systems under a directed communication graph.
    • By introducing neural networks, the effect of unknown nonlinearity in multi-MUAV systems is disposed. The influence of output dead-zone problem on attitude control can be effectively reduced by Nussbaum function. A disturbance observer is designed to compensate the effects of external disturbance and actuator fault, and incorporate the disturbance estimation into the controller to actively compensate for the disturbance.
    • Different from most existing results, in this paper, the developed fault-tolerant controller can effectively solve the tracking control problem of the multi-MUAV attitude systems under output dead-zone, external disturbance and actuator fault.

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