Distributed adaptive disturbance observer-based multi-channel event-triggered finite-time coordinated control for multi-UAVs with actuator failures

Lihao Wang, Aijun Li, Chao Xiao, Changqing Wang, Yuriy Zabolotnov

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

A finite-time coordination controller based on an adaptive disturbance observer and a multi-channel event-triggered strategy is proposed for the multi-UAVs control problem with actuator faults, external disturbances, and communication constraints. First, an adaptive finite-time disturbance observer based on a hyperbolic tangent function is established to compensate for actuator faults and external disturbances without knowing the upper limit of the total disturbance derivative in advance. Second, a multi-channel event-triggered strategy is proposed to reduce communication between neighboring UAVs, between the controller and actuator, and between the disturbance observer and the controller at the same time. Then, the event-triggered strategy integrates the designed disturbance observer and controller, and the proposed control strategy is analyzed for finite-time stability using Lyapunov stability theory and finite-time theory without applying the separation principle. Finally, the effectiveness of the proposed control scheme is verified by numerical simulations.

Original languageEnglish
Article number109319
JournalAerospace Science and Technology
Volume151
DOIs
StatePublished - Aug 2024

Keywords

  • Actuator failures
  • Disturbance observer
  • Limited communication
  • Multi-channel event-triggered strategy
  • UAV formation control

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