基于 Nussbaum函数的多无人机预设性能反步容错协同控制

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。

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

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 pre-scribed performance is designed to achieve the attitude synchronization tracking control of multi-UAVs. Firstly, the atti-tude 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 un-known 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.