Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies

Ran Zhen, Yating Jin, Xiaojing Wu, Xueli Wu, Xuan Lv, Xingling Shao
2021 Mathematical Problems in Engineering  
This paper investigates fault-tolerant time-varying formation tracking control problems for unmanned aerial vehicle (UAV) swarm systems with switching topologies. Actuator faults such as loss of effectiveness and bias fault are mainly considered. Firstly, based on graph theory, an adaptive fault-tolerant time-varying formation tracking control protocol is constructed with adaptive updating parameters and the relative information of the neighboring UAVs, and the feasibility condition for
more » ... n tracking is given. The control protocol does not depend on the information of the actuator fault boundary by using adaptive technology. Then, by constructing a reasonable Lyapunov function and solving the algebraic Riccati equation, the stability of the designed controller is proved. For UAV swarm systems with switching topologies and actuator faults, the formation tracking control protocol designed is adopted to enable the followers form the desired time-varying formation and track the leader's status at the same time. Finally, the simulation examples are given to illustrate the effectiveness of the theoretical results.
doi:10.1155/2021/5519243 fatcat:me6zc2w5ojcg7n7plkuvglgjhu