Fault tolerant control scheme design for the formation control system of unmanned aerial vehicles

Abstract

In this article, a fault tolerant control approach is proposed for the formation control system of unmanned aerial vehicles with bounded external disturbance and unknown fault using both adaptive sliding mode control and $H_{\infty}$ control techniques. First, a linearized formation model of unmanned aerial vehicles is established under a straight and level formation flight condition. A reference model is introduced for the aim of the fault tolerant control problem. Then a sliding mode surface is designed for the deduced error dynamics, an virtual adaptive sliding mode controller and an adaptive fault estimation algorithm are proposed, which can drive the error dynamics onto the predefined sliding mode surface, and guarantee the property of asymptotical stability with a given disturbance attenuation level. On the basis of the normal proportional plus integral formation controller and the estimated fault information, a compensated control–based fault tolerant formation control scheme is proposed to ensure that the formation geometry is maintained in fault case. Finally, simulation results are given to show the effectiveness of the result obtained in this study.

Keywords

Formation control system fault tolerant control adaptive sliding mode control

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