考虑拓扑故障的无人机编队容错控制方法研究

A Fault⁃Tolerant Control Method for Unmanned Aerial Vehicle(UAV)Formation with Topological Faults Considered

针对无人机编队在拓扑故障、舵面故障、执行器故障和不确定性情况下的控制问题,提出了一种编队容错控制方法。首先建立了编队运动模型和无人机运动模型;然后在拓扑故障检测方法的基础上,提出了拓扑故障重构优化算法,实现最小通信代价和队形重构代价的编队拓扑故障重构优化;在反步容错控制方法的设计过程中,通过执行器故障辨识模块和辅助系统模块来对执行器故障和舵面故障进行估计和补偿,实现执行器故障、舵面故障和不确定性条件下的编队稳定飞行。仿真结果验证了所设计的拓扑故障下无人机编队反步容错控制方法的优越性。

A fault⁃tolerant control method for the UAV formation that has topological fault,control surface fault,actuator fault and uncertainty is proposed.Firstly,the formation motion model and the UAV motion model are estab⁃lished.Then based on the topological fault detection method,the topological fault reconstruction and optimization algorithm is proposed to realize the formation topological fault reconstruction and optimization with minimum commu⁃nication cost and formation reconstruction cost.In designing the backstepping fault⁃tolerant control method,the ac⁃tuator′s fault identification module and the auxiliary system module are used to estimate and compensate for the faults of the actuator and the control surface respectively so as to realize the stable flight of the UAV formation under the conditions of actuator fault,control surface fault and uncertainty.The simulation results verify the superiority of the fault⁃tolerant control method for the UAV formation with topological faults.