Distributed fault-tolerant control of multi-UAV formation for dynamic leader tracking: A Lyapunov-based MPC framework

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-02-07 DOI:10.1016/j.automatica.2025.112179

Binyan Xu , Yufan Dai , Afzal Suleman , Yang Shi

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引用次数: 0

Abstract

This paper focuses on the formation tracking control problem of multiple unmanned aerial vehicles (UAVs) interconnected through a directed communication graph. The objective is to ensure that the vehicles attain a predetermined geometric configuration while simultaneously tracking a dynamic virtual leader in the presence of unexpected actuator faults. A novel distributed model predictive control (MPC) framework is proposed, where each UAV is equipped with an individual controller that adopts a hierarchical architecture comprising three sequentially connected control layers. The outer layer, integrating the Lyapunov-based MPC method with an adaptive parameter estimator, determines translation tracking control actions. The intermediate layer enforces the convergence of actual rotation angles toward the desired ones determined by the outer layer. The inner layer generates the torque control commands for rapid convergence of the angular velocities. The closed-loop stability of the entire multi-UAV system is rigorously analyzed, and sufficient conditions regarding the selection of user-defined parameters are established. Simulation results are provided to demonstrate the effectiveness of the proposed design.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.