Peng Han, Weidong Zhang, Simon X. Yang, and Hongtian Chen
Heterogeneous unmanned system, unmanned surface vehicle,unmanned aerial vehicle, heterogeneous formation control, fault-tolerant control
Unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs) have been widely applied in maritime environments. However, challenges arise when cooperative heterogeneous systems encounter unknown and dynamic faults. To address these challenges, this paper develops a novel design of a fault-tolerant formation system for UAVs and USVs. A coordination method is proposed to tackle formation synchronisation and restrain the impact of individual agent faults on the overall system. The nonlinear backstepping control framework is employed to solve the path following problem for both USVs and UAVs, while fault estimation projection-based updating laws are integrated to mitigate the effects of faults on the controllers. The stability of the proposed fault- tolerant formation coordination and control strategies is rigorously proved through Lyapunov analysis. Experimental results validate the effectiveness of the proposed fault-tolerant methods. Comparative experiments demonstrate better formation keeping and faster fault recovery than state-of-the-art methods under identical conditions.
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