Event-Triggered Adaptive Fault-Tolerant Synchronization Tracking Control for Multiple 6-DOF Fixed-Wing UAVs

Boyang Zhang, Xiuxia Sun, Shuguang Liu, Maolong Lv, Xiongfeng Deng

Research output: Contribution to journalArticleScientificpeer-review

25 Citations (Scopus)
99 Downloads (Pure)


In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this article proposes an event-triggered cooperative synchronization fault-tolerant control (FTC) methodology for multiple fixed-wing UAVs whose dynamics are six-degree-of-freedom (DOF) with twelf-state-variables subject to actuator faults, modeling uncertainties, and external disturbances. More precisely, an event-triggering mechanism is devised to determine the time instants of updating control signals, which reduces the signal transmission burden, while saving on system resources. The Zeno phenomenon is excluded in the sense of guaranteeing that the time between two consecutive switchings is lower bounded by a positive constant. The actuator faults as well as the network induced errors are handled via the bound estimation approach and some well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semi-globally uniformly ultimately bounded (SGUUB) and the synchronization tracking errors of speed and attitude converge to a residual set around origin whose size can be made arbitrarily small through selecting appropriate design parameters.

Original languageEnglish
Pages (from-to)148-161
JournalIEEE Transactions on Vehicular Technology
Issue number1
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
  • Angular velocity
  • Attitude control
  • Nonlinear dynamical systems
  • Synchronization
  • Vehicle dynamics


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