| Citation: | CUI Zhengyang, WANG Yong. Fault-tolerant fixed-time path following guidance control of UAV[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(8): 1619-1627. doi: 10.13700/j.bh.1001-5965.2020.0250(in Chinese)
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A fault-tolerant fixed-timepath following guidance control method for the UAVs subject to thedisturbancesand actuator faults is studied. Both backstepping and fixed-time convergence techniques are employed for developing the line-of-sight path following control strategies to guarantee the convergence of the UAV to its reference trajectory in fixed time with elegant transient performance. Command filters and auxiliary systems are introduced in the guidance control algorithms design to avoid the arduous calculation of derivatives of virtual control terms in backstepping. To address turning rates constraints of the UAV, the barrier Lyapunov functions are incorporated with the control scheme to prevent the drastic change of the guidance control system states. A nonlinear fixed-time observer is designed for estimating complex unknown external disturbances and eliminating the actuator faults and the influence of external environment disturbance on following performance. Simulation results show the effectiveness and robustness of the proposed line-of-sight path following guidance control algorithm, and it has good path following fault-tolerant control performance.
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