Yu Ziquan, Zhang Youmin, Jiang Bin, Yu Xiang, Fu Jun, Jin Ying, Chai Tianyou
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China; School of Automation, Northwestern Polytechnical University, Xi'an 710129, China.
Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada.
ISA Trans. 2020 Nov;106:181-199. doi: 10.1016/j.isatra.2020.07.005. Epub 2020 Jul 9.
This paper considers the reliable control problem for multiple trailing fixed-wing unmanned aerial vehicles (UAVs) against actuator faults and wake vortices. A distributed adaptive fault-tolerant control (FTC) scheme is proposed by using a distributed sliding-mode estimator, dynamic surface control architecture, neural networks, and disturbance observers. The proposed control scheme can make all trailing fixed-wing UAVs converge to the leading UAV with pre-defined time-varying relative positions even when all trailing UAVs encounter the wake vortices generated by the leading UAV and a portion of trailing UAVs is subjected to the actuator faults. It is shown that under the proposed distributed FTC scheme, the tracking errors of all trailing UAVs with respect to their desired positions are bounded. Comparative simulation results are provided to illustrate the effectiveness of the proposed control scheme.
本文研究了多架尾随固定翼无人机针对执行器故障和尾流涡旋的可靠控制问题。通过使用分布式滑模估计器、动态表面控制架构、神经网络和干扰观测器，提出了一种分布式自适应容错控制（FTC）方案。所提出的控制方案能够使所有尾随固定翼无人机在预定义的时变相对位置上收敛到领先无人机，即使所有尾随无人机遇到由领先无人机产生的尾流涡旋，并且一部分尾随无人机遭受执行器故障。结果表明，在所提出的分布式FTC方案下，所有尾随无人机相对于其期望位置的跟踪误差是有界的。提供了对比仿真结果以说明所提出控制方案的有效性。
