基于Nussbaum函数的多无人机预设性能反步容错协同控制  

Nussbaum-Based Prescribed Performance Backstepping Fault-Tolerant Cooperative Control of Multi-UAVs

作　　者：孙朋悦 杨海川 李嘉旭 余自权 SUN Pengyue;YANG Haichuan;LI Jiaxu;YU Ziquan(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《海军航空大学学报》2023年第6期503-509,共7页Journal of Naval Aviation University

基　　金：国家自然科学基金(62373188,62003162);航空科学基金(20220007052003);江苏省自然科学基金(BK20200416);中国高校产学研创新基金(2021ZYA02005);空间智能控制技术实验室开放基金(HTKJ2022KL502015);南京航空航天大学研究生科研与实践创新计划(xcxjh20230313,xcxjh20220325)。

摘　　要：针对多无人机协同执行任务过程中遭遇执行器增益故障下的安全飞行控制问题,设计了1种预设性能反步容错姿态跟踪控制方案,以实现故障下的多无人机姿态同步跟踪控制。首先,定义飞行器的姿态同步跟踪误差和姿态角速率跟踪误差,分别利用预设性能函数对2种误差进行约束,将不等式约束转化为等式约束。其次,基于转换误差设计反步容错姿态同步跟踪控制器,应用Nussbaum函数解决由增益故障引起的未知控制增益问题。Lyapunov稳定性分析表明,姿态同步跟踪误差与姿态角速率跟踪误差稳定且收敛。仿真结果验证了控制方案的可行性以及有效性。To address the safe flight control problem for multiple unmanned aerial vehicles(multi-UAVs)under actuator gain faults during cooperative mission execution,a decentralized fault-tolerant attitude tracking control scheme with prescribed performance is designed to achieve the attitude synchronization tracking control of multi-UAVs.Firstly,the attitude synchronization tracking error and angular rate tracking error are defined.Then,the inequality constraints of tracking errors are transformed into the equality forms by using the prescribed performance function.Moreover,the fault-tolerant attitude tracking controller is designed based on the transformed errors,and the Nussbaum function is used to solve the unknown control gain problem caused by the gain fault.Lyapunov stability analysis shows that the attitude tracking errors are convergent in the presence of faults.Finally,simulation results demonstrate the effectiveness of the control scheme.

关 键 词：无人机 NUSSBAUM函数 容错控制 预设性能 反步控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]