传感器故障下的多四旋翼编队协同容错控制

Fault Cooperative Tolerant Control for Multiple Quadrotor Systems with Sensor Faults

当多四旋翼直升机编队中有个体突发传感器故障时,由于个体之间的信息交互,导致故障个体及能接收到故障个体信息的无故障个体偏离理想的飞行轨迹,从而使整个编队无法保持设定的轨迹飞行。故设计一种基于动态面控制技术的分布式四旋翼直升机飞控系统,使主从式编队系统在故障未知的情况下,仍能保持预设的队形飞行,且主机能跟踪上外界参考信号。最后以Qball-X4四旋翼直升机为例,验证了所提算法的有效性。

Due to the local communication among individuals in multiple quadrotor systems, once some quadrotors in the formation have sensor faults, the faulty quadrotors and the ones which can receive the information from them may deviate from the desired path such that the predesigned formation shape cannot be maintained. Thus, a distributed control scheme based on the dynamic surface control is proposed for multiple quadrotor systems with unknown senor faults to maintain a leader-follower formation. Moreover, the leader can always follow the external reference signals under the designed controllers. By doing simulation studies on Qball-X4 quadrotors, the results show the effectiveness of the proposed method.