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| Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault | |
| Guowei Dong; Liang Cao; Deyin Yao; Hongyi Li; Renquan Lu | |
| Source Publication | IEEE/CAA Journal of Automatica Sinica
 |
| ISSN | 2329-9266 |
| 2021 | |
| Volume | 8Issue:9Pages:1567-1575 |
| Abstract | 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. |
| Keyword | Disturbance observer fault-tolerant control (FTC) multi multi-rotor unmanned aerial vehicle (multi-MUAV) attitude systems neural networks (NNs) output dead-zone |
| DOI | 10.1109/JAS.2020.1003605 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/45372 |
| Collection | 学术期刊_IEEE/CAA Journal of Automatica Sinica |
| Recommended Citation GB/T 7714 | Guowei Dong,Liang Cao,Deyin Yao,et al. Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(9):1567-1575. |
| APA | Guowei Dong,Liang Cao,Deyin Yao,Hongyi Li,&Renquan Lu.(2021).Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault.IEEE/CAA Journal of Automatica Sinica,8(9),1567-1575. |
| MLA | Guowei Dong,et al."Adaptive Attitude Control for Multi-MUAV Systems With Output Dead-Zone and Actuator Fault".IEEE/CAA Journal of Automatica Sinica 8.9(2021):1567-1575. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| JAS-2020-1041.pdf（5912KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | View Download | |
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