학술논문
Fixed-Time Observer-Based Sliding Mode Fault-Tolerant Control for Multiple Quadrotor UAVs with Actuator Faults
Document Type
Conference
Author
Source
2023 6th International Symposium on Autonomous Systems (ISAS) Autonomous Systems (ISAS), 2023 6th International Symposium on. :1-6 Jun, 2023
Subject
Language
Abstract
This paper concentrates on the attitude synchronization control of multiple quadrotors suffering from external disturbances and actuator faults. For estimating the external disturbances and actuator faults, a fixed-time observer is designed for each follower. A tracking control strategy based on continuous non-singular terminal sliding mode control with an integrative sliding surface (CNTSMC-ISS) is given to ensure that the system states converge in finite time. Finally, the simulation results demonstrate that the devised formation control scheme can achieve fast convergence of system states.