Fault Detection and Distributed Consensus Fault-Tolerant Control for Multiple Quadrotor UAVs Based on Nussbaum-Type Function
Year: 2025
Type: article
Abstract: In this work, a fault detection method and a distributed consensus fault-tolerant control (FTC) scheme are proposed for multiple quadrotor unmanned aerial vehicles (multi-QUAVs) with actuator faults. In order to identify the actuator faults in time, an auxiliary state observer is constructed first. Subsequently, a fault detection scheme based on the observer error is presented, which can improve the early warning ability of the multi-QUAVs. Meanwhile, to handle unknown sudden faults, the Nussbaum function approach is combined with the consensus theory to design a distributed consensus FTC strategy for multi-QUAVs. Compared with the traditional direct fault estimation method using the projection function technique, the proposed Nussbaum-based FTC method can avoid the singularity problem of the controller in a simple way. Moreover, all error signals of the closed-loop system are proved to be uniformly ultimately bounded via Lyapunov stability theory and the consensus control algorithm. Finally, simulation comparison results indicate the early warning capability of the fault detection method and the formation maintenance performance of the developed fault-tolerant controller.
Source: Aerospace
Authors: Kun Yan, Jinxing Fan, Jianing Tang, Chuchao He
Institution: Xi'an Technological University
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Awards: G1353063753, G2899179042
OpenAlex ID: W4413310012