ABSTRACT
This chapter presents a distributed fault-tolerant control strategy to achieve the attitude synchronization tracking control of multiple unmanned aerial vehicles in the presence of actuator faults and model uncertainties. By utilizing the fuzzy neural networks, the unknown nonlinear terms induced by actuator faults and model uncertainties are estimated as lumped uncertainties. A set of distributed sliding-mode estimators is then employed to estimate the leader unmanned aerial vehicle's attitudes for the follower unmanned aerial vehicles via a distributed communication network. Based on the estimated knowledge from fuzzy neural networks and distributed sliding-mode estimators, a group of distributed fault-tolerant control laws is developed for all follower unmanned aerial vehicles by using the fractional-order calculus. It is proved that with the proposed control scheme, all follower unmanned aerial vehicles can track the attitudes of the leader unmanned aerial vehicle and the tracking errors are uniformly ultimately bounded even when a portion of unmanned aerial vehicles encounters multiple actuator faults. Simulation results are presented to demonstrate the effectiveness of the proposed approach.
