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Distributed event-triggered fractional-order fault-tolerant control of multi-UAVs with full-state constraints

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Abstract

This work presents an event-triggered mechanism-based distributed fractional-order fault-tolerant control (FTC) paradigm for multiple unmanned aerial vehicles (multi-UAVs) subject to full-state constraints. Distinct from the existing control solutions for multi-UAVs with constant constraints and symmetric constraints, the time-varying asymmetric constraints considered in this paper are more suitable for practical requirements. Neural networks are exploited to cope with uncertainties arising from unknown nonlinear dynamics. By cleverly combining speed functions with nonlinear state-dependent functions, a novel distributed FTC protocol is established to drive the system states into the boundary functions within a predetermined finite time. Simultaneously, fractional-order calculus is introduced to provide additional adjustment of control parameters, and an event-triggered mechanism is derived to reduce the update frequency of the control signal. It is testified that all signals of each follower UAV are semi-globally uniformly ultimately bounded, and all follower UAVs can follow the attitudes of the leader UAV. In the end, case studies are reported to corroborate the outperformance of the proposed methodology.

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Data sharing is not applicable to the current manuscript because no datasets were generated or analyzed during the study period.

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Funding

This work was supported in part by the National Natural Science Foundation of China (61973164, 62373192), in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT, and Future Planning (2020R1A2C2005709), and the authors gratefully acknowledge financial support from the China Scholarship Council under Grant (202106840077).

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Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China

    Peng Cheng & Chenxiao Cai

  2. Department of Electrical Engineering, Pohang University of Science and Technology, Pohang, 790784, South Korea

    PooGyeon Park

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  1. Peng Cheng
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Correspondence to PooGyeon Park.

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Cheng, P., Cai, C. & Park, P. Distributed event-triggered fractional-order fault-tolerant control of multi-UAVs with full-state constraints. Nonlinear Dyn 112, 1069–1085 (2024). https://doi.org/10.1007/s11071-023-09069-3

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