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Fault-tolerant model predictive sliding mode control for trajectory replanning of multi-UAV formation flight

Author

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  • Khodaverdian, Maria
  • Najafi, Majdeddin
  • Kazemifar, Omid
  • Rahmanian, Shahabuddin

Abstract

To tackle the trajectory-following problem of multiple unmanned aerial vehicles (UAVs) characterized by high non-linearity and strong coupling, this paper methodologically separates the dynamics of fixed-wing UAVs into two subsystems and designs appropriate controllers for each loop. Unlike previous works, the proposed multi-purpose method simultaneously accounts for constraints, computational time, external disturbances, and actuator faults. The inclusive structure of the proposed strategy is as follows: Firstly, in the outer loop, by employing the high precision and constraint-handling attributes of nonlinear model predictive control (NMPC), the trajectories of the agents are guided to their reference positions while considering spatial limitations, including no-fly zone evasion and inter-vehicle collision evasion. Then, the optimal states of the inner loop are designed. Secondly, in the inner loop, a fault-tolerant sliding mode predictive control (SMPC) is reconfigured to accommodate identified actuator faults and follow the optimal states produced by NMPC. The effectiveness of the suggested algorithm is verified through a series of simulation results. Comparison simulation results substantiate the ascendancy of the suggested dual-loop method over the NMPC trajectory replanning algorithm.

Suggested Citation

  • Khodaverdian, Maria & Najafi, Majdeddin & Kazemifar, Omid & Rahmanian, Shahabuddin, 2025. "Fault-tolerant model predictive sliding mode control for trajectory replanning of multi-UAV formation flight," Applied Mathematics and Computation, Elsevier, vol. 487(C).
  • Handle: RePEc:eee:apmaco:v:487:y:2025:i:c:s0096300324005344
    DOI: 10.1016/j.amc.2024.129073
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    References listed on IDEAS

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    1. Durán-Delfín, J.E. & García-Beltrán, C.D. & Guerrero-Sánchez, M.E. & Valencia-Palomo, G. & Hernández-González, O., 2024. "Modeling and Passivity-Based Control for a convertible fixed-wing VTOL," Applied Mathematics and Computation, Elsevier, vol. 461(C).
    2. Wang, Jiaqi & Fang, Fang & Yi, Xiaojian & Liu, Yajuan, 2021. "Dynamic event-triggered fault estimation and sliding mode fault-tolerant control for networked control systems with sensor faults," Applied Mathematics and Computation, Elsevier, vol. 389(C).
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