带有输入受限的无人机精确编队合围容错控制  

Fault-tolerant containment control for precise formation of UAVs with input saturation

作　　者：刘伯健 李爱军[1] 郭永 王长青[1] LIU Bojian;LI Aijun;GUO Yong;WANG Changqing(School of Automation,Northwestern Polytechnical University,Xi’an 710129,China)

机构地区：[1]西北工业大学自动化学院,西安710129

出　　处：《航空学报》2023年第9期300-314,共15页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(61803307,62111530051);航空科学基金(201901053004)。

摘　　要：针对带有输入受限和作动器故障的无人机精确编队合围控制问题,提出了一种基于合围控制架构的通信拓扑设计算法和一种基于Nussbaum函数的分布式自适应有限时间容错控制算法。2种算法的结合克服了现有合围控制无法精确控制跟随者队形的缺陷。首先,利用凸图形和合围控制通信拓扑的性质,针对预设的精确跟随者队形,提出了一种合理的机间通信拓扑设计方法;其次,利用一种新颖的光滑函数对非对称输入受限信号进行平滑处理,将存在输入受限和作动器故障的无人机合围控制问题转化为变增益控制问题;然后,采用基于Nussbaum函数的控制器的设计方法对变增益控制问题进行处理;最终,通过李雅普诺夫稳定性理论和有限时间理论对所提出的控制策略进行了有限时间稳定性分析,并且通过数字仿真对所提出的算法的有效性进行了验证。To solve the problem of containment control for precise formation of UAVs with input saturation and actuator failure,a communication topology design algorithm based on containment control architecture and a distributed adaptive finite-time fault-tolerant control algorithm based on Nussbaum function are proposed.The combination of the two algorithms overcomes the defect that the existing containment control cannot make the followers converge to the pre-defined formation.Firstly,using the knowledge of convex figures and communication topology of containment control,a communication topology design algorithm is proposed to make followers form precise formation.Secondly,by utilizing a novel hyperbolic tangent function to smooth the constrained input,the containment control issue for UAVs with input saturation and actuator fault can be turned into a variable gain control problem.Then,the Nussbaum-based control algorithm is utilized to solve the issue.Finally,the finite-time convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

关 键 词：有限时间控制 容错控制 合围控制 精确编队控制 NUSSBAUM函数 输入受限 

分 类 号：V249[航空宇航科学与技术—飞行器设计]