Event-Triggered Adaptive Fuzzy Fault-Tolerant Attitude Control for Tailless Flying-Wing UAV With Fixed-Time Convergence
Zhilong Yu, Yinghui Li, Maolong Lv, Binbin Pei, Anqi Fu
Abstract
This article delves into the investigation of attitude control for a tailless flying-wing unmanned aerial vehicle (UAV), considering various challenges such as limited communication resources, actuator faults, external disturbances, and system uncertainties. Firstly, an improved event-triggered mechanism is developed, which significantly reduces the communication and computation resources. Subsequently, an event-triggered adaptive fuzzy fixed-time fault-tolerant control scheme is presented by combining backstepping design. The presented control scheme not only mitigates control system chattering but also eliminates potential singularity issues that may arise during recursive design. It is rigorously demonstrated that the designed controller guarantees all states of the closed-loop attitude control system remain bounded and will converge to a small neighborhood adjacent to the origin in fixed time, regardless of the initial conditions, while excluding Zeno behavior. Finally, the effectiveness and superiority of the proposed control methodology are shown through the comparative numerical simulations.