多无人机协同自适应滑模容错控制及仿真研究  

Adaptive sliding mode fault-tolerant control and simulation of multi-UAV cooperative formation flight

作　　者：卢世堃 郑柏超[1,2] 王海风 LU Shikun;ZHENG Bochao;WANG Haifeng(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology,Nanjing 210044,China)

机构地区：[1]南京信息工程大学自动化学院,江苏南京210044 [2]江苏省大气环境与装备技术协同创新中心,江苏南京210044

出　　处：《飞行力学》2022年第4期56-62,共7页Flight Dynamics

基　　金：国家自然科学基金资助(61973169);江苏省自然科学基金资助(BK20201392)。

摘　　要：针对多无人机编队飞行过程中的僚机故障问题,提出一种基于扩张高增益观测器的自适应滑模容错编队控制方法,以提高编队飞行的稳定性。根据长机-僚机法建立了五机编队的数学模型以及编队中僚机的故障模型,利用扩张高增益观测器对故障僚机三个通道的偏差故障进行观测。在编队控制器中设计了自适应滑模容错控制方法,以消除失效及偏差两种故障对僚机的影响,并运用Lyapunov稳定性理论证明了系统跟踪误差最终有界收敛。仿真结果表明,采用该控制方法无人机编队在僚机故障的情况下,仍然能够保持正常编队飞行。Focusing on the problem of the failure for the follower in formation flight of multi-UAV, an adaptive sliding mode fault-tolerant control method based on extended high-gain observer was proposed to improve the stability of formation flight. According to the leader-follower method, the mathematical model of five-aircraft formation and the fault model of the follower were established, the extended high-gain observer was designed to observe the deviation fault of the three channels of the faulty UAV, and the adaptive sliding mode fault-tolerant control method was adopted in the formation controller to eliminate the influence of failure and deviation on the follower. The final bounded convergence of the tracking error of the system was proved based on Lyapunov stability theroy. The simulation results show that the control method can make the UAV group to fly normally in formation when the follower fails.

关 键 词：无人机编队 僚机故障 扩张高增益观测器 滑模控制 容错控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1