Purpose

The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations.

Design/methodology/approach

First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance.

Findings

It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy.

Originality/value

A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.

中文翻译：

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外部干扰下多无人机编队容错控制

目的

本文的目的是构建一种事件触发的有限时间容错编队跟踪控制器，该控制器可以在执行器故障和外部扰动期间实现多架无人机（UAV）的时变编队控制。

设计/方法论/途径

首先，本研究使用无人机编队成员为每个跟随者开发了编队跟踪协议，定义了无人机跟随者位置的跟踪误差。随后，本研究设计了基于有限时间内反步法框架的多层事件触发控制器。然后，考虑执行器故障，并添加有限时间内容错控制的自适应思想，事件触发闭环系统随后被证明是一个有限时间稳定系统。此外，还对 Zeno 行为进行了分析，以防止在有限时间内无限触发实例。最后，在外部干扰和执行器故障条件下进行仿真，以证明编队跟踪控制器的性能。

发现

它可以在存在外部干扰和系统故障的情况下提高性能。将限时自适应控制和事件触发相结合，提高了系统稳定性，提高了对干扰的鲁棒性和计算效率。此外，所设计的编队跟踪控制器能够有效控制领航者和跟随者时变队形完成任务，并且通过增加固定时间观测器，可以有效补偿外界干扰，提高编队控制精度。

原创性/价值

设计了一种编队跟随控制器，可以处理编队飞行期间的外部干扰和内部执行器故障，并且该方法可以应用于多种编队控制场景，并且不依赖于特定类型的无人机或通信网络。