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

• 作者: Guowei Dong Liang Cao Deyin Yao Hongyi Li Renquan Lu
• 来源期刊: 自动化学报（英文版）
• 年，卷（期）: 2021,（9）
• 所属期刊栏目: PAPERS
• 页码范围: 1567-1575
• 页数: 9页
• 语种: 英文
• DOI: 10.1109/JAS.2020.1003605

摘要

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.