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Fault-Tolerant Containment Control for Multi-UAV Systems Based on ADP

This paper deals with the problem of containment control of multi-unmanned aerial vehicle (UAV) systems with actuator faults and energy consumption optimization. First, an containment error system based on the communication information of the agent itself and the neighborhood is established, and the optimal containment control problem can be transformed into the problem of optimal regulation for the containment error system. Meanwhile, the performance function for each follower UAV is introduced. The performance function takes the local neighborhood containment error, the control input of the follower UAV and the neighbor follower UAV as variables. Then, the optimal performance function and the control policies can be approximated by the neural network (NN) based on the adaptive dynamic programming (ADP) policy iteration method, and the nominal controller can be designed for the original fault-free system. Furthermore, in light of the nominal controller, a fault-tolerant controller is designed to compensate the effect of actuator faults on the multi-UAV system. Finally, numerical simulations are given to show the validity of the designed approach.