Open AccessFault‐tolerant formation control of non‐linear multi‐vehicle systems with application to quadrotors
Author(s) -
Shi Jiantao,
Yang Yuhao,
Sun Jun,
He Xiao,
Zhou Donghua,
Zhong Yisheng
Publication year - 2017
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.0569
Subject(s) - control theory (sociology) , observer (physics) , estimator , lyapunov function , riccati equation , fault tolerance , controller (irrigation) , computer science , noise (video) , algebraic riccati equation , actuator , mathematics , control (management) , differential equation , nonlinear system , distributed computing , artificial intelligence , mathematical analysis , statistics , physics , quantum mechanics , agronomy , image (mathematics) , biology
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.