Distributed Prescribed Performance Fault-Tolerant Control of Multi-UAVs With Input Delays via Dynamic Event-Triggered Observers
针对存在执行器和传感器故障、输入延迟及全状态预设性能约束的多无人机系统，设计了一种分布式事件触发观测器来重构领导者状态，并结合反步法构建容错控制方案，使跟踪误差在有限时间内收敛到指定区域。
This article concentrates on the distributed fault-tolerant control (FTC) issue for a herd of delayed unmanned aerial vehicles (UAVs) subject to actuator faults, sensor faults, and full-state prescribed performance (FSPP). A novel distributed event-triggered observer is devised to reconstruct the leader’s states within a finite time, and a Zeno-free dynamic triggering condition is put forward to schedule information transmission between neighboring UAVs. Unknown nonlinear dynamics are handled via radial basis function neural networks. By cleverly combining the presented observer and backstepping control techniques, a distributed FTC paradigm is constructed such that the estimated leader states can be tracked. Besides, finite-time performance functions are introduced to ensure that the tracking errors converge to the specified regions within a bounded time. It is shown by Lyapunov theory that all closed-loop signals are practically finite-time stable, and the FSPP restrictions are strictly obeyed. Finally, case studies are reported to corroborate the practical merits of the presented methodology.