NDLI: Fault-tolerant formation control of non-linear multi-vehicle systems with application to quadrotors

Content Provider	IET Digital Library
Author	Shi, Jiantao Yang, Yuhao Sun, Jun He, Xiao Zhou, Donghua Zhong, Yisheng
Abstract	This study is concerned with the fault-tolerant (FT) formation control problem with a guaranteed H ∞ performance for non-linear multi-vehicle systems subject to actuator faults. The authors consider a practical situation: the information transferred between adjacent vehicles is disturbed and each vehicle is interfered by stochastic disturbance and measurement noise. For each vehicle, a decentralised state observer and an adaptive fault estimator are designed based on which a novel cooperative FT control (FTC) protocol is proposed to drive all the vehicles to the desired formation configuration. Taking the system noise into consideration, the error dynamics are modelled by I t o ^ stochastic differential equations, whose properties are used for designing and analysing the Lyapunov function in the framework of I t o ^ calculus. It is proved that the formation error system is mean-square asymptotically stable with a prescribed attenuation level in an H ∞ sense by the proposed FTC scheme. The observer, estimator and controller gains can be obtained by solving algebraic Riccati inequalities. Finally, the theoretical results are illustrated by simulations and real experiments.
Starting Page	3179
Ending Page	3190
Page Count	12
ISSN	17518644
Volume Number	11
e-ISSN	17518652
Issue Number	Issue 17, Nov (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/11/17
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.0569
Journal	IET Control Theory & Applications
Publisher Date	2017-08-31
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuator Fault Adaptive Fault Estimator Adjacent Vehicle Aerospace Control Algebra Algebraic Riccati Inequalities Asymptotic Stability Controller Gain Cooperative FT Control Protocol Decentralised State Observer Differential Equation (numerical Analysis) Error Dynamics Estimator Gain Fault Tolerant Control Fault-tolerant Formation Control Formation Configuration Formation Error System Helicopters H∞ Performance Ito Calculus Framework Ito Stochastic Differential Equation Lyapunov Function Analysis Lyapunov Function Design Lyapunov Method Mathematical Analysis Mean-square Asymptotic Stability Measurement Noise Mobile Robots Modelling And Identification Multi-robot System Nonlinear Control System Nonlinear Multivehicle System Observer Gain Observers Position Control Quadrotors Riccati Equation Simulation Spatial Variables Control Stability in Control Theory Statistics Stochastic Disturbance Stochastic Linearised SCUC System Noise
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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