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The adaptive enhancement control framework for reconfigurable swarm in combined modality model under actuator failures, unknown disturbances, and safety saturation constraints is designed in this chapter. A kinematic and dynamic model adaptive with failures and uncertain disturbances is constructed. A kinematic control method combining high-level composite nonlinear feedback with adaptive safety boundaries is proposed, while the bottom dynamic controller integrates the noise-smooth and low-power disturbance estimation as well as adaptive fault-tolerant mechanism, achieving robust velocity tracking under faults and disturbances. Simulations and experiments verify the fault-tolerance, disturbance rejection, and safety of the proposed approach.

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Modeling and Anti-disturbance and Fault-Tolerance Control of Combined Modalties

  • 章节

  • 发表日期：

    2025年

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  • Tao Jiang,
  • Zhi Zheng,
  • Lan Yao,
  • Jianchuan Ye,
  • Jianxiang Wang,
  • Jingxiang Feng

摘要

The adaptive enhancement control framework for reconfigurable swarm in combined modality model under actuator failures, unknown disturbances, and safety saturation constraints is designed in this chapter. A kinematic and dynamic model adaptive with failures and uncertain disturbances is constructed. A kinematic control method combining high-level composite nonlinear feedback with adaptive safety boundaries is proposed, while the bottom dynamic controller integrates the noise-smooth and low-power disturbance estimation as well as adaptive fault-tolerant mechanism, achieving robust velocity tracking under faults and disturbances. Simulations and experiments verify the fault-tolerance, disturbance rejection, and safety of the proposed approach.