Sliding mode control-based distributed fault tolerant tracking control for multiple unmanned aerial vehicles with input constraints and actuator faults

In this article, the distributed tracking control problem is studied for the formation flight systems of unmanned aerial vehicles (UAVs) in presence of input constraints and actuator faults. Different from the traditional approximation technique, such as radial basis function neural networks and fuzzy logic systems, the novel broad learning system approximation technique is introduced in this study to identify the unknown lumped disturbances including external disturbances, input constraints and additive actuator faults. Combining dynamic surface control technique with the fractional order sliding mode control, a distributed fault tolerant tracking control strategy is developed for the formation flight systems of UAVs. Besides, the adverse effect of multiplicative actuator faults is compensated by the Nussbaum function, such that the satisfactory cooperative tracking control performance of the formation flight systems is obtained. Finally, a simulation experiment is given to demonstrate the superiority of the proposed control scheme compared with other existing results.