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Distributed Prescribed Performance Fault-Tolerant Control of Multi-UAVs With Input Delays via Dynamic Event-Triggered Observers
Cheng, Peng1,2; Cai, Chenxiao1; Park, Poogyeon3
2024-06-01
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ABS Journal Level3
ISSN2168-2216
Volume54Issue:6Pages:3582-3594
Abstract

This article concentrates on the distributed fault-tolerant control (FTC) issue for a herd of delayed unmanned aerial vehicles (UAVs) subject to actuator faults, sensor faults, and full-state prescribed performance (FSPP). A novel distributed event-triggered observer is devised to reconstruct the leader's states within a finite time, and a Zeno-free dynamic triggering condition is put forward to schedule information transmission between neighboring UAVs. Unknown nonlinear dynamics are handled via radial basis function neural networks. By cleverly combining the presented observer and backstepping control techniques, a distributed FTC paradigm is constructed such that the estimated leader states can be tracked. Besides, finite-time performance functions are introduced to ensure that the tracking errors converge to the specified regions within a bounded time. It is shown by Lyapunov theory that all closed-loop signals are practically finite-time stable, and the FSPP restrictions are strictly obeyed. Finally, case studies are reported to corroborate the practical merits of the presented methodology.

KeywordDistributed Control Event-triggered Fault-tolerant Control (Ftc) Prescribed Performance Unmanned Aerial Vehicle (Uav)
DOI10.1109/TSMC.2024.3367969
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:001181548700001
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141
Scopus ID2-s2.0-85187399859
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Citation statistics
Document TypeJournal article
CollectionFaculty of Science and Technology
DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding AuthorCai, Chenxiao; Park, Poogyeon
Affiliation1.Nanjing University of Science and Technology, School of Automation, Nanjing, 210094, China
2.University of Macau, Faculty of Science and Technology, Department of Electromechanical Engineering, Macao
3.Pohang University of Science and Technology, Department of Electrical Engineering, Pohang, 37673, South Korea
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Cheng, Peng,Cai, Chenxiao,Park, Poogyeon. Distributed Prescribed Performance Fault-Tolerant Control of Multi-UAVs With Input Delays via Dynamic Event-Triggered Observers[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2024, 54(6), 3582-3594.
APA Cheng, Peng., Cai, Chenxiao., & Park, Poogyeon (2024). Distributed Prescribed Performance Fault-Tolerant Control of Multi-UAVs With Input Delays via Dynamic Event-Triggered Observers. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 54(6), 3582-3594.
MLA Cheng, Peng,et al."Distributed Prescribed Performance Fault-Tolerant Control of Multi-UAVs With Input Delays via Dynamic Event-Triggered Observers".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 54.6(2024):3582-3594.
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