Fault Tolerant Control Scheme Design for Formation Flight Control System of Multiple Unmanned Aerial Vehicles  

作　　者：Qian Moshu Xiong Ke 

机构地区：[1]College of Electrical Engineering and Control Science,Nanjing Tech University [2]State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2018年第4期693-701,共9页南京航空航天大学学报（英文版）

基　　金：supported in part by the Post Doctoral Research Foundation of Jiangsu Province(No.1701140B);the National Natural Science Foundation of China (No. 61403195);the GF Research and Development Project of the Nanjing Tech Universities(No.201709)

摘　　要：The command tracking problem of formation flight control system(FFCS)for multiple unmanned aerial vehicles(UAVs)with sensor faults is discussed.And the objective of the addressed control problem is to design a robust fault tolerant tracking controller such that,for the disturbances and sensor faults,the closed-loop system is asymptotically stable with a given disturbance attenuation level.A robust fault tolerant tracking control scheme,combining an observer with H∞ performance,is proposed.Furthermore,it is proved that the designed controller can guarantee asymptotic stability of FFCS despite sensor faults.Finally,a simulation of two UAV formations is employed to demonstrate the effectiveness of the proposed approach.The command tracking problem of formation flight control system （FFCS） for multiple unmanned aerial vehicles （UAVs） with sensor faults is discussed. And the objective of the addressed control problem is to design a robust fault tolerant tracking controller such that, for the disturbances and sensor faults, the closed-loop system is asymptotically stable with a given disturbance attenuation level. A robust fault tolerant tracking control scheme, combining an observer with H ∞ performance, is proposed. Furthermore, it is proved that the designed controller can guarantee asymptotic stability of FFCS despite sensor faults. Finally, a simulation of two UAV formations is employed to demonstrate the effectiveness of the proposed approach.

关 键 词：formation control fault tolerant control(FTC) unmanned aerial vehicle(UAV) robust control 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]