Ziyuan Ma, Huajun Gong and Xinhua Wang
The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for…
Abstract
Purpose
The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations.
Design/methodology/approach
First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance.
Findings
It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy.
Originality/value
A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.
Details
Keywords
Ran Gong, Jinxiao Li, Jin Xu, He Zhang and Huajun Che
Leakage serves as a core indicator of sealing performance degradation, particularly under high-speed and heavy-duty operational where increased leakage is common. Within…
Abstract
Purpose
Leakage serves as a core indicator of sealing performance degradation, particularly under high-speed and heavy-duty operational where increased leakage is common. Within heavy-duty vehicle transmissions, the leakage can lead to excessive pressure loss and eventual transmission failure. This study aims to introduce a predictive method for assessing sealing ring leakage in vehicle transmissions based on operating conditions.
Design/methodology/approach
Seal test was carried out using a specialized seal test rig. Various data points were collected during this test, including leakage, friction torque, oil temperature, oil pressure and rotating speed. The collected data underwent noise separation and reconstruction using the complete ensemble empirical mode decomposition with adaptive noise method. Subsequently, a leakage prediction model is developed using the random forest regression with parameter optimization. A quantitative evaluation for influencing factors in leakage prediction process is investigated.
Findings
The results achieve a mean accuracy index exceeding 95%, demonstrating close alignment between predicted and actual leakage values. Feature contribution results highlight that the trends of the oil temperature, friction torque and oil pressure significantly affect the leakage prediction, with the oil temperature trend exerting the most substantial influence.
Originality/value
This work sheds light on the interplay between operating conditions and sealing performance degradation, offering valuable insights for understanding and addressing sealing issues effectively.
Peer review
The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-07-2024-0271/