NN-Based Fixed-Time Attitude Tracking Control for Multiple Unmanned Aerial Vehicles With Nonlinear Faults

Xiaohong Zheng, Hongyi Li, Choon Ki Ahn, Deyin Yao

Research output: Contribution to journalArticlepeer-review

75 Citations (Scopus)


This article focuses on the fixed-time fault-tolerant attitude tracking control problem for multiple unmanned aerial vehicles (MUAVs) with nonaffine nonlinear faults. First, the command filter and neural networks (NNs) are employed to characterize unknown nonlinearities in MUAVs, and the update law of NN is developed via convex optimization technique. Second, the algebraic loop problem caused by nonaffine nonlinear faults is adequately solved by introducing the Butterworth low-pass filter. Then, the curve-fitting method is utilized to construct a piecewise virtual control signal to avoid the singularity problem in fixed-time control. Furthermore, based on the Lyapunov stability theory, a general fixed-time stability criterion is adopted to prove that the designed fault-tolerant attitude controller can guarantee the stability of MUAVs in fixed time. Finally, the effectiveness of the proposed control design method is verified via illustrative examples.

Original languageEnglish
Pages (from-to)1738-1748
Number of pages11
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number2
Publication statusPublished - 2023 Apr 1

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China under Grant 62121004, Grant 62141606, Grant 62033003, and Grant 62003098, in part by the Local Innovative and Research Teams Project of Guangdong Special Support Program under Grant 2019BT02X353, and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449.

Publisher Copyright:
© 1965-2011 IEEE.


  • Convex optimization
  • coordinated attitude control
  • fault-tolerant control
  • fixed-time control
  • multiple unmanned aerial vehicles (MUAVs)

ASJC Scopus subject areas

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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