Dynamic event-triggered fault-tolerant cooperative resilient tracking control with prescribed performance for UAVs  

作　　者：Rong YUAN Zhengcai AN Shuyi SHAO Mou CHEN Mihai LUNGU 

机构地区：[1]College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [2]Science and Technology on Electro-optic Control Laboratory,Luoyang 471000,China [3]Faculty of Electrical Engineering,University of Craiova,Craiova 200585,Romania [4]Aerospace Engineering Doctoral School,University Politehnica of Bucharest,Bucharest 060042,Romania

出　　处：《Science China(Information Sciences)》2024年第8期63-80,共18页中国科学（信息科学）（英文版）

基　　金：supported in part by National Key R&D Program of China(Grant No.2023YFB4704400);National Natural Science Foundation of China(Grant Nos.U23B2036,U2013201).

摘　　要：In this paper, a resilient tracking control scheme with cooperative collision avoidance performance is studied for the fixed-wing unmanned aerial vehicle(UAV) leader-follower formation in the presence of actuator failures and external disturbances. Firstly, based on the control objectives of UAV formation tracking and collision avoidance, the transformation tracking errors are obtained using the prescribed performance control technique. Next, a fault detection mechanism is introduced to determine if there is the actuator fault. Subsequently, the event-triggered resilient fault observers are designed based on a dynamic eventtriggered mechanism to estimate actuator faults. Furthermore, the prescribed performance functions and the H∞ performance index are employed to ensure the UAV formation collision-free and mitigate the impact of disturbances. Moreover, the resilient controller is designed to minimize the effect of the perturbations for the control gain and the fault observer gain on the system. The stability of the system is also proven through the Lyapunov stability analysis, and the controller gains are calculated by solving the linear matrix inequality.Finally, the validity of the proposed control strategy is demonstrated by the simulation analysis.

关 键 词：UAV formation cooperative collision avoidance event-triggered fault observer prescribed per-formance resilient control 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]