一种无人机-无人车编队系统容错控制方法

A fault⁃tolerant control scheme for UAVs-UGVs formation systems

针对多无人机(UAVs)-多无人车(UGVs)编队控制系统通信链路加性故障问题,提出了一种基于分布式自适应观测器的容错编队控制算法。对四旋翼无人机控制系统和两轮驱动式无人车控制系统进行模型转换,并构造多无人机-多无人车编队控制系统数学模型;基于“虚拟领导者-跟随者”拓扑结构,利用邻接智能体的局部信息设计分布式自适应观测器,实现在通信链路故障下对虚拟领导者状态的观测;基于反步法设计多无人机-多无人车编队控制系统自适应容错编队控制器保证系统的编队跟踪性能。最后,在由3架四旋翼无人机和3辆两轮驱动式无人车组成的编队系统中进行仿真,结果验证了所设计自适应观测器和控制器的有效性。

To compensate for the problem of communication link additive faults of Unmanned Aerial Vehicles(UAVs)-Unmanned Ground Vehicles(UGVs)formation system,a fault-tolerant formation control algorithm is proposed based on distributed adaptive observers.The models of quad-rotor UAV and two-wheeled mobile robot control systems are transformed,and the model for the UAVs-UGVs formation system is further constructed.Based on the"virtual leaderfollowers"topology,distributed adaptive observers are designed by using the local information of adjacent agents to re⁃alize the observation of virtual leader's states with communication link additive faults.The adaptive fault-tolerant forma⁃tion controllers of UAVs-UGVs system are designed based on the backstepping method.Finally,the effectiveness of the designed observers and controllers is verified by simulation of the formation system composed of three quad-rotor UAVs and three two-wheeled mobile robots.