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This paper investigates the fault-tolerant control (FTC) problem of multiple unmanned aerial vehicles (multi-UAVs) system with time-varying communication delay. The unmanned aerial vehicle (UAV) model has parameter uncertainties and may encounter external disturbances as well as thrust faults. Firstly, an observer is proposed to estimate the desired velocity and position of the follower UAV. Then, an adaptive law is adopted to estimate the lumped equivalent efficiency factor, and it is combined with the sliding mode control (SMC) to formulate an adaptive FTC strategy. Finally, the Lyapunov theory is used to demonstrate the stability of the mentioned observer and controller. Simulations are used to show the effectiveness of the suggested scheme.

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Adaptive Fault-Tolerant Control for Multi-UAVs with Time-Varying Communication Delay

  • 会议论文

  • 发表日期：

    2025年

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  • Liang Han,
  • Ziquan Yu,
  • Yuehua Cheng,
  • Lingxia Mu,
  • Youmin Zhang

摘要

This paper investigates the fault-tolerant control (FTC) problem of multiple unmanned aerial vehicles (multi-UAVs) system with time-varying communication delay. The unmanned aerial vehicle (UAV) model has parameter uncertainties and may encounter external disturbances as well as thrust faults. Firstly, an observer is proposed to estimate the desired velocity and position of the follower UAV. Then, an adaptive law is adopted to estimate the lumped equivalent efficiency factor, and it is combined with the sliding mode control (SMC) to formulate an adaptive FTC strategy. Finally, the Lyapunov theory is used to demonstrate the stability of the mentioned observer and controller. Simulations are used to show the effectiveness of the suggested scheme.