Distributed fault-tolerant formation tracking control & for multiple-quadrotor UAVs
WANG Jun
LI Ang
Abstract：An adaptive non-singular fast terminal sliding mode control(ANFTSMC)strategy is proposed to improve the performance of quadrotor UAV formation systems for the problem that quadrotor UAV formation under directed com-munication topology is susceptible to air drag,external disturbances,actuator failures,and other uncertainties during flight.The strategy mainly uses the adaptive parameter adjustment method to improve the non-singular fast terminal sliding mode controller,which can effectively estimate the upper bound of the total disturbance of the unknown set,ensure that the slid-ing mode surface reaches the equilibrium point,and ensure that the tracking error converges to zero in finite time.Second,according to the leader-follower structure,the distributed formation controller is designed so that the follower only needs the neighboring state information to achieve communication and reduce the dependence on the global and leader informa-tion.In addition,the quadrotor UAV formation system is analyzed based on the Lyapunov stability theory,and it is proved that the algorithm can make the multi-UAV formation tracking error converge to zero.Finally,the results of the compar-ative simulation show that the control algorithm of this paper has better fault-tolerance performance for the formation of multi-quadrotor UAVs in the presence of external disturbances and actuator failure.
Keywords：directed communication topologyadaptive non-singular fast terminal sliding mode controlquadrotor UAVdistributed formation controlleractuator failure
Publication Date：2025-07-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：12( 1333-1344 )