Chattering-Free Fault-Tolerant Cluster Control and Fault Direction Identification for HIL UAV Swarm With Pre-Specified Performance

Pei-Ming Liu; Xiang-Gui Guo; Jian-Liang Wang; Daniel Coutinho; Lihua Xie

doi:10.1109/JAS.2024.124827

IEEE/CAA Journal of Automatica Sinica

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P.-M. Liu, X.-G. Guo, J.-L. Wang, D. Coutinho, and L. Xie, “Chattering-free fault-tolerant cluster control and fault direction identification for HIL UAV swarm with pre-specified performance,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 1–15, Jan. 2025. doi: 10.1109/JAS.2024.124827

Citation:

P.-M. Liu, X.-G. Guo, J.-L. Wang, D. Coutinho, and L. Xie, “Chattering-free fault-tolerant cluster control and fault direction identification for HIL UAV swarm with pre-specified performance,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 1–15, Jan. 2025. doi: 10.1109/JAS.2024.124827

Citation:

P.-M. Liu, X.-G. Guo, J.-L. Wang, D. Coutinho, and L. Xie, “Chattering-free fault-tolerant cluster control and fault direction identification for HIL UAV swarm with pre-specified performance,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 1–15, Jan. 2025. doi: 10.1109/JAS.2024.124827

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Chattering-Free Fault-Tolerant Cluster Control and Fault Direction Identification for HIL UAV Swarm With Pre-Specified Performance

doi: 10.1109/JAS.2024.124827

Funds: This work was supported in part by the National Natural Science Foundation of China (62173028, 62233015, 62173024), the Guangdong Basic and Applied Basic Research Foundation (2024A1515011493), the Science, Technology & Innovation Project of Xiongan New Area (2023XAGG0062), Beijing Natural Science Foundation (4232060), the International Scientists Project, Beijing Natural Science Foundation (IS23065), and the Brazilian Research Council (303289/2022-8)

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Author Bio:
Pei-Ming Liu received the B.S. degree in electrical engineering and automation from the College of Engineering, Shanxi Agricultural University, in 2018. He is currently working toward the Ph.D. degree in instruments science and technology with the School of Automation and Electrical Engineering, University of Science and Technology Beijing. His research interests include intrusion-tolerant and fault-tolerant control for multi-agent systems

Xiang-Gui Guo (Member, IEEE) received the B.S. degree in electrical engineering and automation from the College of Electrical Engineering, Northwest University for Nationalities, in 2005, the M.S. degree in control theory and engineering from the College of Electrical Engineering and Automation, Fuzhou University, in 2008, and the Ph.D. degree in control science and engineering from the Northeastern University, in 2012. From 2014 to 2016, he was a Postdoctoral Fellow with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore. From July to August 2018, he was a Visiting Scholar with the Department of Mechanical Engineering, University of Victoria, Canada. Since 2019, he has been a Professor with the School of Automation and Electrical Engineering, University of Science and Technology Beijing. His research interests include multi-agent systems, fuzzy systems, vehicular platoon control, and fault-tolerant control

Jian-Liang Wang (Senior Member, IEEE) received the B.E. degree in electrical engineering from the Beijing Institute of Technology, in 1982, and the M.S.E. and Ph.D. degrees in electrical engineering from the Johns Hopkins University, USA, in 1985 and 1988, respectively. From 1988 to 1990, he was a Lecturer with the Beihang University. From 1990 to 2019, he was a tenured Associate Professor with the Nanyang Technological University, Singapore. Since 2020, he has been a Senior Researcher/Professor with the Hangzhou Innovation Institute of Beihang University. His current research interests include multi-agent systems, UAVs and UAMs, vehicular platoon systems, and fault-tolerant control

Daniel Coutinho (Senior Member IEEE) received the B.S. degree in electrical engineering from the Universidade Federal do Rio Grande do Sul (UFRGS), Brazil, in 1989, and the M.S. and Ph.D. degrees in electrical engineering from the Universidade Federal de Santa Catarina (UFSC), Brazil in 1993 and 2003, respectively. In 2001, he was a Visiting Scholar with The University of Newcastle, Australia. From 1992 to 1997, he was a Lecturer with the Electronics Department, Federal Institute of Technology of Santa Catarina (IFSC), Brazil. From 1998 to 2010, he was with the Faculty of Engineering, Pontifícia Universidade Católica do Rio Grande do Sul (PUC-RS), Porto Alegre. In 2010, he joined the Department of Automation and Systems, UFSC. In 2008 and 2018, he spent sabbatical years in the Service d'Automatique at UMONS and Service d'Automatique et d'Analyse des Systèmesn at ULB, respectively. His research interests include stability analysis, performance, control and state estimation of uncertain and nonlinear systems. Dr. Coutinho is an Associate Editor of IMA Journal of Mathematical Controland Information, International Journal of Robust and Nonlinear Control, and IEEE Control Systems Letters

Lihua Xie (Fellow, IEEE) received the Ph.D. degree in electrical engineering from the University of Newcastle, Australia, in 1992. Since 1992, he has been with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, where he is currently President’s Chair and Director, Center for Advanced Robotics Technology Innovation. He has served as the Head of Division of Control and Instrumentation and Co-Director, Delta-NTU Corporate Lab for Cyber-Physical Systems. He held teaching appointments in the Department of Automatic Control, Nanjing University of Science and Technology from 1986 to 1989. Dr Xie’s research interests include robust control and estimation, networked control systems, multi-agent networks, and unmanned systems. He has published 10 books and numerous papers in the areas, and holds 25 patents/technical disclosures. He was listed as a highly cited researcher by Thomson Routers and Clarivate Analytics. He is an Editor-in-Chief for Unmanned Systems and has served as Editor for IET Book Series in Control and Associate Editor for a number of journals including IEEE Transactions on Automatic Control, Automatica, IEEE Transactions on Control Systems Technology, IEEE Transactions on Network Control Systems, etc. He was an IEEE Distinguished Lecturer (Jan 2012 – Dec 2014) and the General Chair of the 62^nd IEEE Conference on Decision and Control (CDC 2023). He is currently Vice-President of IEEE Control System Society. Dr Xie is Fellow of Academy of Engineering Singapore, IEEE, IFAC, and CAA
Corresponding author: Xiang-Gui Guo, e-mail: guoxianggui@ustb.edu.cn
Received Date: 2024-07-05
Accepted Date: 2024-08-03

Available Online: 2024-09-12

Abstract

Abstract

In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop (HIL) swarm unmanned aerial vehicles (UAVs) in the presence of possible nonidentical and unknown direction faults (NUDFs) in the yaw channel. The control strategy begins with the design of a pre-specified performance event-triggered observer for each individual UAV. These observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer output. It is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs’ output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.

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Chattering-Free Fault-Tolerant Cluster Control and Fault Direction Identification for HIL UAV Swarm With Pre-Specified Performance

doi: 10.1109/JAS.2024.124827

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