Adaptive Fault-Tolerant Formation Control for Heterogeneous UAVs-UGVs Systems With Multiple Actuator Faults

被引：12

作者：

Ma, Yajie ^{[1
]}

Jiang, Bin ^{[1
]}

Wang, Juan ^{[2
]}

Gong, Jianye ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Peoples R China

[2] AVIC Jincheng Nanjing Engn Inst Aircraft Syst, Nanjing 211106, Peoples R China

来源：

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS | 2023年 / 59卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Actuators; Formation control; Fault tolerant systems; Fault tolerance; Adaptation models; Vehicle dynamics; Task analysis; Adaptive control; fault-tolerant control; formation control; heterogeneous multiagent systems (MASs); multiple actuator faults; VARYING FORMATION TRACKING; LINEAR MULTIAGENT SYSTEMS; OUTPUT REGULATION; CONSENSUS; VEHICLES; SPACECRAFT; TOPOLOGIES;

D O I：

10.1109/TAES.2023.3277424

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This article investigates the fault-tolerant formation control problem for heterogeneous multiagent systems (MASs) consisting of quadrotor unmanned aerial vehicles (UAVs) and two-wheel driven unmanned ground vehicles (UGVs) in the presence of multiple actuator faults. The heterogeneous dynamic characteristics and the uncertainties of the control gain matrix generated by actuator faults, especially the sudden changes to system structure due to finite sequential faults, increase the difficulty of the formation control design. The dynamic models of UAVs and UGVs are first transformed to obtain the XOY 2-D position formation systems of UAVs-UGVs and the Z-axis altitude

引用

页码：6705 / 6716

页数：12

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