Super-twisting disturbance observer-based intelligence adaptive fault-tolerant formation control for a class of CAUS with switching topology

This paper investigates a super-twisting disturbance observer (STDO)-based intelligence adaptive fault-tolerant formation control structure for cluster aerospace unmanned systems (CAUSs) subject to the external disturbances and actuator faults with switching topology. Firstly, in order to surmount the effects of the actuator unknown control gain and the deviation faults, a number of adaptive laws are developed. Secondly, benefiting from the precisely performance of STDO, we introduced a compensation term into the controller design to overcome the influence of the high dynamic external disturbances. Moreover, in order to achieve the communication and update of the information, CAUS controller maintains the leader-following consensus under the switching communication topology, which can promote the adaptability of the time-varying actual task demands. Numerical simulation results are demonstrated to illustrate the effectiveness and advantages of the proposed STDO-based intelligence adaptive formation control method for the CAUS.