| Citation: | QIAN Moshu, WU Zhu, WANG Cunsong, et al. Fast terminal sliding mode fault tolerant control for UAV swarm based on cerebellar model articulation controller[J]. Journal of Aerospace Power, 2023, 38（10）：2441-2449 doi: 10.13224/j.cnki.jasp.20210310
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An adaptive fast nonsingular integral sliding mode (FNISM) fault tolerant control (FTC) approach was developed for the cooperative formation control problem of unmanned aerial vehicle (UAV) swarm affected by actuator faults and external disturbances. To achieve a good cooperative tracking performance of UAV swarm during mission execution, the actual flight condition was analyzed for the adverse effect of actuator failures, vortex disturbances and so on. The cerebellar model articulation controller neural network (CMANN) was introduced to approximately compensate the external disturbances and the effect of actuator faults. Result showed that the closed-loop formation system of UAVs achieved ultimately uniformly bounded stability under the failures, meanwhile the convergency rate was increased by reducing the sliding mode parameter and the control precision was improved by increasing the virtual and actual controller parameters . The simulation experiments of four UAVs swarm were carried out respectively under three approaches, including the proposed approach, RBFNN based robust dynamic surface FTC and robust PD sliding mode FTC. The comparative results showed that the designed approach has superior control performance for the faulty formation control system of UAV swarm.
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