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 

机构地区：[1]School of Automation and the Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control,Guangdong University of Technology,Guangzhou 510006,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2021年第9期1567-1575,共9页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(62033003,62003098);the Local Innovative and Research Teams Project of Guangdong Special Support Program(2019BT02X353);the China Postdoctoral Science Foundation(2019M662813,2020T130124,2020M682614).

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.

关 键 词：Disturbance observer fault-tolerant control(FTC) multi multi-rotor unmanned aerial vehicle(multi-MUAV)attitude systems neural networks(NNs) output dead-zone 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程] V249.1[航空宇航科学与技术—飞行器设计]