Consensus tracking control with transient performance improvement for a group of unmanned aerial vehicles subject to faults and parameter uncertainty

This paper considers the consensus tracking synthesised with transient performance improvement problem for a network of unmanned aerial vehicles with faults. In practical situations, the parameter variations, modelling errors and disturbances are of particular interest. Thus, it is assumed that the...

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Bibliographic Details
Published in:International journal of control 2019-04, Vol.92 (4), p.796-815
Main Authors: Wang, Qishao, Huang, Di, Duan, Zhisheng, Wang, Jingyao
Format: Article
Language:English
Subjects:
Computer simulation
Control theory
H-infinity control
Multi-agent systems
observer-type protocol
Parameter uncertainty
Performance indices
Protocol (computers)
Robust control
Tracking control
Transient performance
Unmanned aerial vehicles
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Summary:This paper considers the consensus tracking synthesised with transient performance improvement problem for a network of unmanned aerial vehicles with faults. In practical situations, the parameter variations, modelling errors and disturbances are of particular interest. Thus, it is assumed that the dynamics of vehicles are subject to parameter uncertainty. As the main contribution of this paper, a set of fault-estimator-based protocols is proposed to drive the overall network performance below the given H ∞ synthesised with transient performance index. Sufficient conditions for designing the protocols which utilise the relative output information among neighbouring vehicles are given by applying the robust control theory. Simulations are performed to validate the proposed results.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2017.1370555