Prescribed-Time FTC for UHs Under Switching Topologies
摘要
This chapter studies the fault-tolerant formation control of UHs with actuator faults under switching topologies. First, the HOFAS model for the 6-DOF UH is developed, splitting it into position outer-loop and attitude inner-loop subsystems. Next, a prescribed-time disturbance observer is designed to rapidly estimate composite disturbances from external disturbances and actuator faults. Using the FAS method, the formation fault-tolerant controller and attitude tracking fault-tolerant controller are designed for the inner and outer loops respectively, ensuring prescribed-time stability for multiple UHs under switching topologies.