多固定翼无人机非奇异有限时间容错编队协同控制研究  

Finite-Time Fault-Tolerant Formation Cooperative Control of Multiple Fixed-Wing UAVs

作　　者：卢建华 袁泽浩 王宁 刘蕊 吕德坤 Lu Jianhua;Yuan Zehao;Wang Ning;Liu Rui;LüDekun(Naval Aviation University,Yantai 264001,China)

机构地区：[1]海军航空大学,山东烟台264001

出　　处：《航空兵器》2025年第2期48-58,共11页Aero Weaponry

基　　金：国家资助博士后研究人员计划(B档)(GZB20230988);中国博士后科学基金面上资助项目(2024M754258)。

摘　　要：编队协同控制技术作为无人机任务执行的核心和关键,受到强对抗环境中的自然条件和任务时间约束等因素影响,无人机编队协同控制面临着“执行器故障”和“渐近收敛(收敛时间趋于无穷)”等挑战。本文针对一类六自由度多固定翼无人机编队系统,提出一种执行器故障条件下非奇异有限时间容错编队协同控制策略。首先,对于固定翼无人机的速度和姿态系统,设计了相应的有限时间编队协同控制算法,并通过引入新型切换函数有效解决了控制器中可能出现的奇异值问题。其次,设计了基于故障参数的自适应更新律。最后,基于有限时间稳定性理论,证明了控制算法的有限时间稳定性,并通过半实物仿真试验,验证了所提控制方法的有效性和可行性。Formation cooperative control technology,as a core and critical aspect of unmanned aerial vehicle(UAV)mission execution,is significantly influenced by factors such as natural conditions and mission time constraints in strong jamming environment.Under these circumstances,UAV formation cooperative control faces challenges such as"actuator failures"and"asymptotic convergence(the convergence time approaches infinity)".To address these issues,this paper proposes a non-singular finite-time fault-tolerant formation cooperative control strategy for a class of six-degree-of-freedom multi-fixed-wing UAV formation systems.Initially,finite-time formation cooperative control algorithms are developed for the velocity and attitude systems of fixed-wing UAVs.By introducing a novel switching function,the potential singularities in the controller is resolved effectively.Subsequently,an adaptive update law based on fault parameters is designed to address actuator failures.Finally,the finite-time stability of the control algorithm is ri-gorously proven using finite-time stability theory.Semi-physical simulation experiments are conducted to validate the effectiveness and feasibility of the proposed control method.

关 键 词：无人机 六自由度 有限时间控制 执行器故障 奇异值 编队协同控制 

分 类 号：TJ760[兵器科学与技术—武器系统与运用工程] V279[航空宇航科学与技术—飞行器设计]