Adaptive Preview Fault‐Tolerant Control With Partial‐State Feedback for Autonomous Recovery of UAV–UGV Collaborative Grazing

Abstract

The collaboration between UAV and UGV will greatly liberate manpower and improve the production efficiency of animal husbandry. The autonomous recovery of UAV is important for the whole collaboration system, especially when it meets with unexpected UAV faults and wind turbulence. Therefore, a model reference adaptive preview control method is proposed in this paper. By introducing previewable future command information as feedforward compensation, the transient speed, tracking accuracy, and flight smoothness of the system are improved. Moreover, the adaptive update law online adjusts the feedforward and feedback gains, which enhances the system's robustness against external disturbances and faults. Furthermore, an integrated guidance and control architecture is adopted to merge the trajectory and attitude loops, which eliminates the phase‐lag and decoupling defects of traditional cascaded control schemes. Multi‐channel aerodynamic coupling is handled in a unified optimization without extra decoupling, enhancing anti‐disturbance performance. The method balances tracking accuracy and control effort, with a compact structure that facilitates onboard implementation. A numerical simulation is conducted to verify the tracking performance and robustness against faults and wind turbulence.