Distributed Adaptive Fixed-Time Fault-Tolerant Control for Multiple 6-DOF UAVs With Full-State Constraints Guarantee

Boyang Zhang, Xiuxia Sun, Maolong Lv, Shuguang Liu, Le Li

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)
23 Downloads (Pure)


In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein material points or only attitude/longitudinal dynamics are considered, this article proposes a distributed fixed-time fault-tolerant control methodology for networked fixed-wing UAVs whose dynamics are six-degree-of-freedom with twelf-state-variables subject to actuator faults and full-state constraints. More precisely, state transformations with the scaling function are devised to keep the involved velocity and attitude within their corresponding constraints. The fixed-time property is obtained in the sense of guaranteeing that the settling time is lower bounded by a positive constant, which is independent of initial states. The actuator faults as well as the network induced errors are handled via the bound estimation approach and well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semiglobally uniformly ultimately bounded, and the tracking errors of velocity and attitude converge to the residual sets around origin within a fixed time.

Original languageEnglish
Pages (from-to)4792-4803
JournalIEEE Systems Journal
Issue number3
Publication statusPublished - 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Actuators
  • Aerodynamics
  • Convergence
  • Fault tolerance
  • Fault tolerant systems
  • Fault-tolerant control (FTC)
  • fixed-time convergence
  • full-state constraints
  • six-degree-of-freedom (DOF) fixed-wing unmanned aerial vehicles (UAVs)
  • Uncertainty
  • Vehicle dynamics


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