Academic Journal
Distributed Adaptive Fuzzy Formation Control of Uncertain Multiple Unmanned Aerial Vehicles With Actuator Faults and Switching Topologies
| العنوان: | Distributed Adaptive Fuzzy Formation Control of Uncertain Multiple Unmanned Aerial Vehicles With Actuator Faults and Switching Topologies |
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| المؤلفون: | Yu, Yajing, Guo, Jian, Chadli, Mohammed, Xiang, Zhengrong |
| المساهمون: | School of Automation Nanjing (NJUST), Nanjing University of Science and Technology (NJUST), Informatique, BioInformatique, Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay |
| المصدر: | ISSN: 1063-6706 ; IEEE Transactions on Fuzzy Systems ; https://hal.science/hal-03757656 ; IEEE Transactions on Fuzzy Systems, 2023, 31 (3), pp.919--929. ⟨10.1109/TFUZZ.2022.3193440⟩. |
| بيانات النشر: | HAL CCSD Institute of Electrical and Electronics Engineers |
| سنة النشر: | 2023 |
| مصطلحات موضوعية: | Actuator faults, Actuators, Adaptation models, Adaptive fuzzy control, Autonomous aerial vehicles, Formation control, Multiple unmanned aerial vehicles, Switches, Switching topologies, Topology, Unmodeled dynamics, Vehicle dynamics, [SPI.AUTO]Engineering Sciences [physics]/Automatic |
| الوصف: | International audience ; 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. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| DOI: | 10.1109/TFUZZ.2022.3193440 |
| الاتاحة: | https://hal.science/hal-03757656 https://doi.org/10.1109/TFUZZ.2022.3193440 |
| رقم الانضمام: | edsbas.459349AC |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/TFUZZ.2022.3193440 |
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