Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (6): 13751396.doi: 10.23919/JSEE.2023.000153
• AUTONOMOUS DECISION AND COOPERATIVE CONTROL OF UAV SWARMS • Previous Articles Next Articles
Boyu QIN^{1}^{,}^{2}(), Dong ZHANG^{1}^{,}^{2}^{,}*(), Shuo TANG^{1}^{,}^{2}(), Yang XU^{3}()
Received:
20230611
Online:
20231218
Published:
20231229
Contact:
Dong ZHANG
Email:byqin@mail.nwpu.edu.cn;zhangdong@nwpu.edu.cn;stang@nwpu.edu.cn;yang.xu@nwpu.edu.cn
About author:
Supported by:
Boyu QIN, Dong ZHANG, Shuo TANG, Yang XU. Twolayer formationcontainment faulttolerant control of fixedwing UAV swarm for dynamic target tracking[J]. Journal of Systems Engineering and Electronics, 2023, 34(6): 13751396.
Table 1
Some key notations"
Nomenclature  Interpretation 
Identity matrix with n dimensions  
Diagonal matrix  
Maximum and minimum eigenvalues  
Absolute value, pnorm  
Signum function, notation of  
Kronecker product  
Laplacian matrix  
Position coordinates of UAV i  
Velocity, path angle, and heading angle of UAV i  
Thrust, angle of attack, and banking angle of UAV i  
Virtual control input of UAV i  
Execution effectiveness, bias of UAV i’s actuator  
Measurement effectiveness, bias of UAV i’s angle sensor  
Integrated disturbance and its observed value of UAV i  
Reference position and velocity of UAV i generated by DFTE  
Position, velocity, and integrated disturbance of UAV i observed by FTESO  
Sliding mode variables 
Table 3
Fault signals encountered by each fixedwing UAV (°)"
Fault component  Fault signal  0 s < t < 60 s  60 s < t < 120 s  t > 120 s 
Actuator fault  η_{a,i1}  1  0.3e^{−1.5(t − 60)} + 0.7  0.3e^{−1.5(t − 60)} + 0.7 
η_{a,i2}  1  0.25e^{−1.5(t − 60)} + 0.75  0.25e^{−1.5(t − 60)} + 0.75  
η_{a,i3}  1  0.25e^{−1.5(t − 60)} + 0.75  0.25e^{−1.5(t − 60)} + 0.75  
b_{a,i1}  0  −5(1 − e^{−1.5(t − 60)})  −5(1 − e^{−1.5(t − 60)})  
b_{a,i2}  0  0.5(1 − e^{−1.5(t − 60)})  0.5(1 − e^{−1.5(t − 60)})  
b_{a,i3}  0  5(1 − e^{−1.5(t − 60)})  5(1 − e^{−1.5(t − 60)})  
Sensor fault  η_{m,i1}  1  1  0.2e^{−(t − 120)} + 0.8 
η_{m,i2}  1  1  0.2e^{−(t − 120)} + 0.8  
b_{m,i1}  0  0  5(1 − e^{−(t − 120)})  
b_{m,i2}  0  0  5(1 − e^{−(t − 120)}) 
Table 4
Maneuver trajectory of the dynamic target and desired formation functions of each UAV"
Scenario  Signal  Parameter  Value 
Planar formation  Maneuver trajectory of the dynamic target  x_{0/}m  600sin(0.05t − π / 2) + 8t 
y_{0} /m  0  
z_{0} /m  600cos(0.05t − π / 2) − 8t + 1500  
v_{x0}/(m·s^{−1})  30cos(0.05t − π / 2) + 8  
v_{y0}/(m·s^{−1})  0  
v_{z0} /(m·s^{−1})  −30sin(0.05t − π / 2) − 8  
The desired formation function (For UAV 1 to UAV 8)  h_{xi} /m  400cos(0.02t + π / 2)  
h_{yi} /m  50  
h_{zi} /m  400sin(0.02t + π / 2)  
Cubic formation  Maneuver trajectory of the dynamic target  x_{0} /m  1500sin(0.02t −π / 6) 
y_{0}/m  50 + t  
z_{0}/m  1500cos(0.02t − π / 6)  
v_{x0}/(m·s^{−1})  30cos(0.02t − π / 6)  
v_{y0}/(m·s^{−1})  1  
v_{z0}/(m·s^{−1})  −30sin(0.05t − π / 6)  
The desired formation function (For UAV 1 to UAV 8)  h_{xi} /m  500cos[0.02t +(2i − 1)π / 4]  
h_{yi} /m  25 (i = 1,2,3,4); −25 (i = 5,6,7,8)  
h_{zi} /m  500sin[0.02t +(2i − 1)π / 4] 
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