Fault detection and anti-disturbance control of multi-UAV system under multi-source disturbances

This paper investigates the problem of precise observer-based fault detection and composite anti-disturbance problem for a type of multi-unmanned aerial vehicle (UAV) systems under multi-source disturbances. To address the problem, a disturbance observer is constructed to address model disturbance, while a disturbance compensation mechanism is introduced for model-free disturbance, which will enhance the accuracy in fault detection. At the same time, the design of the controller also compensates for these two types of disturbances, achieving the goal of composite anti-disturbance. Interestingly, the fault detection threshold is not a fixed value but a dynamic one which can lower both the false alarm rate and missed alarm rate. Finally, the numerical example is given to show the effectiveness of the proposed method.