Decentralized Adaptive Event-Triggered Fault-Tolerant Synchronization Tracking Control of Multiple UAVs and UGVs With Prescribed Performance
Shangkun Liu, Bin Jiang, Zehui Mao, Youmin Zhang
Abstract
This paper addresses the issue of decentralized adaptive event-triggered fault-tolerant synchronization tracking control for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with prescribed performance subject to actuator faults and external disturbances. The transformed error is presented by integrating the prescribed performance function into the synchronous tracking errors. Based on the transformed error, the decentralized adaptive event-triggered fault-tolerant synchronization tracking control scheme is developed to achieve the synchronous tracking purpose with prescribed performance subject to actuator faults and external disturbances. Based on Lyapunov theory, the stability of the closed-loop systems is analyzed and the synchronous tracking errors are bounded within the prescribed boundary. Furthermore, the Zeno behavior is also excluded. Finally, simulation studies are provided to verify the efficiency of the proposed control scheme.