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Singularity-free fixed-time adaptive event-triggered fault-tolerant control for a QUAV with user-defined tracking performance

Author

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  • Song, Xiaona
  • Zhuo, Ruikang
  • Song, Shuai
  • Wang, Ke

Abstract

In this paper, a singularity-free fixed-time adaptive interval type-2 fuzzy fault-tolerant control scheme with user-defined tracking performance is developed for a quadrotor unmanned aerial vehicle (QUAV) with unknown actuator failures under the command-filtered backstepping control (CFBC) framework. At first, the hyperbolic tangent function and interval type-2 fuzzy logic systems (IT2FLSs) are integrated to deal with unknown nonlinear expressions, where the potential singularity problem exposed in some existing fixed-time control schemes can be effectively prevented. Using a modified CFBC technique, the matter of “explosion of complexity” exposed in the classical recursive design procedure and the negative effects caused by filter error existing in dynamic surface control are overcome. Furthermore, the fixed time adaptive resilient controllers are designed for position subsystem and attitude subsystem, separately, where the event-triggered mechanism is incorporated into controller design to relax communication bandwidth constraints. Moreover, the rigorous analysis demonstrated that the designed control scheme can ensure that all closed-loop signals are fixed-time bounded, and the tracking errors can be regulated into a residual set satisfying a user-defined tracking performance. Ultimately, the effectiveness of the proposed control strategy is validated through the simulation results.

Suggested Citation

  • Song, Xiaona & Zhuo, Ruikang & Song, Shuai & Wang, Ke, 2025. "Singularity-free fixed-time adaptive event-triggered fault-tolerant control for a QUAV with user-defined tracking performance," Applied Mathematics and Computation, Elsevier, vol. 501(C).
    • Handle: RePEc:eee:apmaco:v:501:y:2025:i:c:s0096300325001948
    DOI: 10.1016/j.amc.2025.129467
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    References listed on IDEAS

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    1. Zeghlache, Samir & Rahali, Hilal & Djerioui, Ali & Benyettou, Loutfi & Benkhoris, Mohamed Fouad, 2024. "Robust adaptive backstepping neural networks fault tolerant control for mobile manipulator UAV with multiple uncertainties," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 218(C), pages 556-585.
    2. Sui, Shuai & Yu, Yuelei & Tong, Shaocheng & Philip Chen, C.L., 2024. "Event-triggered robust fuzzy adaptive control for non-strict feedback nonlinear system with prescribed performance," Applied Mathematics and Computation, Elsevier, vol. 474(C).
    3. Wu, Li-Bing & Park, Ju H. & Xie, Xiang-Peng & Liu, Ya-Juan & Yang, Zhi-Chun, 2020. "Event-triggered adaptive asymptotic tracking control of uncertain nonlinear systems with unknown dead-zone constraints," Applied Mathematics and Computation, Elsevier, vol. 386(C).
    4. Cui, Guozeng & Xu, Hui & Yu, Jinpeng & Ma, Jiali & Li, Ze, 2023. "Fixed-time distributed adaptive attitude control for multiple QUAVs with quantized input," Applied Mathematics and Computation, Elsevier, vol. 449(C).
    5. Xu, Lin-Xing & Wang, Yu-Long & Wang, Fei & Long, Yue, 2023. "Event-triggered active disturbance rejection trajectory tracking control for a quadrotor unmanned aerial vehicle," Applied Mathematics and Computation, Elsevier, vol. 449(C).
    6. Yang, Wei & Cui, Guozeng & Ma, Qian & Ma, Jiali & Tao, Chongben, 2022. "Finite-time adaptive event-triggered command filtered backstepping control for a QUAV," Applied Mathematics and Computation, Elsevier, vol. 423(C).
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