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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2023, Vol. 44 ›› Issue (8): 327216-327216.doi: 10.7527/S1000-6893.2022.27216

• Electronics and Electrical Engineering and Control • Previous Articles     Next Articles

A fault⁃tolerant control scheme for UAVs-UGVs formation systems

Yajie MA, Juan WANG, Bin JIANG(), Jianye GONG   

  1. College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing  211106,China
  • Received:2022-03-30 Revised:2022-05-14 Accepted:2022-10-08 Online:2023-04-25 Published:2022-10-26
  • Contact: Bin JIANG E-mail:binjiang@nuaa.edu.cn
  • Supported by:
    National Natural Science Foundation of China(62020106003);Natural Science Foundation of Jiangsu Province of China(BK20211566);Programme of Introducing Talents of Discipline to Universities of China(B20007);Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures (Nanjing University of Aeronautics and Astronautics)(MCMS-I-0121G03);Aeronautical Science Foundation of China(20200007018001)

Abstract:

To compensate for the problem of communication link additive faults of Unmanned Aerial Vehicles (UAVs)-Unmanned Ground Vehicles (UGVs) formation system, a fault-tolerant formation control algorithm is proposed based on distributed adaptive observers. The models of quad-rotor UAV and two-wheeled mobile robot control systems are transformed, and the model for the UAVs-UGVs formation system is further constructed. Based on the "virtual leader-followers" topology, distributed adaptive observers are designed by using the local information of adjacent agents to realize the observation of virtual leader's states with communication link additive faults. The adaptive fault-tolerant formation controllers of UAVs-UGVs system are designed based on the backstepping method. Finally, the effectiveness of the designed observers and controllers is verified by simulation of the formation system composed of three quad-rotor UAVs and three two-wheeled mobile robots.

Key words: heterogeneous multi-agent system, UAVs-UGVs formation system, communication link additive fault, fault-tolerant formation tracking, adaptive control

CLC Number: