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Distributed Adaptive Fuzzy Formation Control of Uncertain Multiple Unmanned Aerial Vehicles With Actuator Faults and Switching Topologies

Abstract : This paper investigates a distributed fuzzy adaptive formation control for quadrotor multiple unmanned aerial vehicles under unmodeled dynamics and switching topologies. The unmanned aerial vehicles dynamics model is described by the Newton-Euler formula, and the actuator faults are considered in the system model in the form of multiplicative factors and additive factors. Due to the underactuated characteristics of the unmanned aerial vehicles, two objective attitude commands are generated by designing a virtual control signal, which are transmitted to the attitude subsystem, and then the position controller is solved. By constructing a distributed communication mechanism between unmanned aerial vehicles, an adaptive formation control strategy is proposed, which can enable unmanned aerial vehicles to update their position and speed online according to their neighbor information, and then achieve the required formation. In addition, a fuzzy adaptive sliding mode controller is designed to ensure that the tracking errors of unmanned aerial vehicles converge to the neighborhood of the origin. Finally, the simulation results verify the effectiveness of the proposed control strategy.
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https://hal.archives-ouvertes.fr/hal-03757656
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Submitted on : Monday, August 22, 2022 - 3:50:45 PM
Last modification on : Wednesday, August 24, 2022 - 3:26:23 AM

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Yajing Yu, Jian Guo, Mohammed Chadli, Zhengrong Xiang. Distributed Adaptive Fuzzy Formation Control of Uncertain Multiple Unmanned Aerial Vehicles With Actuator Faults and Switching Topologies. IEEE Transactions on Fuzzy Systems, Institute of Electrical and Electronics Engineers, 2022, pp.1-10. ⟨10.1109/TFUZZ.2022.3193440⟩. ⟨hal-03757656⟩

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