Fractional-order intelligent fault-tolerant synchronization tracking control of UAV swarms
Bin Jiang, YouMin ZHANG, Ziquan Yu · Scientia Sinica Technologica · 2020
This paper develops a fractional-order intelligent tracking control scheme for the UAV that is fault-tolerant, enables efficient synchronization, and swarms against actuator faults to achieve a safe formation flight. By dividing the UAV system into the outer position subsystem and the inner attitude subsystem, the UAV model is first transformed to facilitate the controller design. Then, based on the fractional-order theory and neural adaptive control strategy, a fault-tolerant position synchronization tracking controller is constructed for the outer position subsystem. Extracting the desired attitudes from the position synchronization tracking controller and utilizing the fractional-order theory and neural adaptive control strategy proved to be effective in the development of a fault-tolerant attitude-tracking controller. Finally, our simulation results corroborated the effectiveness of the proposed control scheme.