Concise Adaptive Fault-Tolerant Formation Scaling Control for Autonomous Vehicles with Bearing Measurements

In the bearing-based formation control of autonomous surface vehicles, the scaling maneuver capability is greatly limited when faced with actuator faults and uncertainties. Under these circumstances, to better realize the formation scaling maneuver, a concise adaptive fault-tolerant formation scaling control scheme is proposed for autonomous vehicles with bearing measurements. By means of dynamic surface control, parameter integration and the adaptive technique, the tedious derivative calculation of virtual control signals is avoided and the prescribed formation scaling maneuver is achieved without knowing specific information about the faults and models. It is shown that both yaw angle tracking errors and bearing errors are able, ultimately, to be made uniformly bounded using this scheme. Meanwhile, only one control parameter and one adaptive parameter need to be updated during the formation scaling process. Stability analysis and comparative results are provided to verify the validity of the developed scheme.