Prescribed-Time Fault-Tolerant Formation Control for Collision-Free Unmanned Helicopters: A High-Order Fully Actuated System Approach

IEEE Transactions on Aerospace and Electronic Systems, Год журнала: 2024, Номер 60(4), С. 4715 - 4727

Опубликована: Март 28, 2024

This article investigates the prescribed-time fault-tolerant formation tracking problem in multiple unmanned helicopters subject to both gain and bias actuator faults. In contrast existing results separating under-actuated model into an outer-loop inner-loop subsystems on whole, three high-order fully actuated are derived for design convenience at first. Subsequently, a fault estimation observer is developed approximate subsystem states lumped faults, which can be completed within user-preassigned time regardless of initial observation conditions. Such convergence also determine relevant parameters some extent. Afterwards, we incorporate system approach control protocol procedures, eliminate influence failures preserve target geometric pattern, artificial repulsive potential function utilized avoid collisions among followers $\mathbf {xoy}$ -plane. this manner, property higher accuracy accomplished. Finally, simulation presented prove reliabilities benefits algorithm.

Язык: Английский

---

Formation tracking control for networked heterogeneous MSV systems with actuator faults: A distributed optimal event-triggered fixed-time sliding mode fault-tolerant control approach

Ocean Engineering, Год журнала: 2024, Номер 313, С. 119370 - 119370

Опубликована: Сен. 30, 2024

Язык: Английский

---

Fixed-time adaptive fuzzy formation control using novel nonlinear mapping function for multiple unmanned surface vehicles with fixed-time constraints

Ocean Engineering, Год журнала: 2025, Номер 321, С. 120404 - 120404

Опубликована: Янв. 22, 2025

Язык: Английский

---

Evaluation of Interval Type-2 Fuzzy Neural Super-Twisting Control Applied to Single-Phase Active Power Filters

Applied Sciences, Год журнала: 2024, Номер 14(8), С. 3271 - 3271

Опубликована: Апрель 12, 2024

This research introduces an improved control strategy for active power filter (APF) system. It utilizes adaptive super-twisting sliding mode (STSMC) scheme. The proposed approach integrates interval type-2 fuzzy neural network with a self-feedback recursive structure (IT2FNN-SFR) to enhance the overall performance of APF IT2FNN STSMC here consists two components, one being IT2FNN-SFR, which demonstrates robustness uncertain systems and ability utilize historical information. IT2FNN-SFR estimator is used approximate unknown nonlinear function within APF. Simultaneously, component integrated reduce system chattering, improving precision performance. combines simplicity traditional control, effectively addressing chattering problem. To mitigate inaccuracies complexities associated manual parameter setting, law gain formulated achieve optimal solutions. designed framework, facilitating optimization. Experimental validation conducted verify harmonic suppression capability strategy. THD corresponding algorithm 4.16%, by 1.24% 0.55% compared ASMC STSMC, respectively, below international standard requirement 5%. Similarly, controller also advantages in dynamic performance: when load decreases, it 4.72%, outperforming 1.15% 0.38%, respectively; increases, 3.87%, surpassing 1.07% 0.36%, respectively.

Язык: Английский

---

Predictor-based neural adaptive self-triggered quantitative prescribed performance formation control for underactuated unmanned surface vehicles

Ocean Engineering, Год журнала: 2025, Номер 319, С. 120220 - 120220

Опубликована: Янв. 1, 2025

Язык: Английский

---

Adaptive fuzzy event-triggered fast fixed-time filtering backstepping formation control for underactuated USVs with LOS range and bearing angle constraints

Ocean Engineering, Год журнала: 2025, Номер 325, С. 120674 - 120674

Опубликована: Фев. 27, 2025

Язык: Английский

---

Finite-time terminal sliding mode control strategy for the unmanned surface vehicle with composite disturbances

Ocean Engineering, Год журнала: 2025, Номер 328, С. 121036 - 121036

Опубликована: Март 31, 2025

Язык: Английский

---

Adaptive fuzzy event-triggered and precision trajectory tracking control for underwater tracked robot

Ocean Engineering, Год журнала: 2025, Номер 334, С. 121559 - 121559

Опубликована: Май 21, 2025

Язык: Английский

---

Prescribed performance-based distributed formation control for surface vessels with connectivity and collision constraints

Ocean Engineering, Год журнала: 2025, Номер 334, С. 121621 - 121621

Опубликована: Май 23, 2025

Язык: Английский

---

Fully Distributed Target Encircling Control of Autonomous Surface Vehicles Based on Noncooperative Games

IEEE Transactions on Intelligent Vehicles, Год журнала: 2024, Номер 9(4), С. 4769 - 4779

Опубликована: Март 4, 2024

This paper addresses cooperative target encircling of multiple autonomous surface vehicles (ASVs) with private and potentially competitive objectives. A fully distributed control approach is proposed based on noncooperative games. Specifically, a estimator an adaptive gain developed to estimate the information without using global state or topology knowledge. Based low-frequency learning technique, fuzzy predictor presented approximate unknown vehicle kinematics induced by uncertain nonlinearities environmental disturbances. By decoupling into task spacing task, law are designed Nash equilibrium seeking for achieving objective each ASV. The input-to-state stability closed-loop system proven via cascade analysis. Simulation results provided illustrate effectiveness game-based method ASVs in circumnavigation missions.

Язык: Английский

---