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Safe control of trailing UAV in close formation flight against actuator fault and wake vortex effect

机译：针对执行器故障和尾流涡流效应，近距离编队飞行的尾随无人机的安全控制

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In the close formation flight, the wake vortex induced by the leading aircraft will have adverse effects on the safe flight of the trailing unmanned aerial vehicle (UAV). Hence, this paper investigates a difficult problem of safe control for the trailing UAV against actuator faults, input saturation, and wake vortex effect. By using disturbance observers, external wake vortex, disturbances, and internal actuator faults are estimated. Then, with the help of estimated knowledge of disturbance, backstepping control laws are developed for the longitudinal dynamics and the lateral-directional dynamics, respectively. One of the key features of the proposed strategy is that, the inherent problem, i.e., "explosion of complexity" in conventional backstepping control, is solved by the presented dynamic surface control scheme. Another key feature is that external wake vortex, disturbances, and internal actuator faults, input saturation are simultaneously considered. It is shown by Lyapunov stability analysis that the closed-loop system is uniformly ultimately bounded with safety requirements guaranteed even in the presence of wake vortex and actuator faults. The effectiveness of the proposed approach is further validated by simulation results. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：在近距离编队飞行中，由领先飞机引起的尾流涡流将对尾随无人飞行器（UAV）的安全飞行产生不利影响。因此，本文研究了针对执行器故障，输入饱和度和尾流涡流效应的尾随无人机安全控制的难题。通过使用干扰观测器，可以估算外部尾流涡流，干扰和内部执行器故障。然后，借助估计的扰动知识，分别针对纵向动力学和横向动力学建立了反推控制律。提出的策略的关键特征之一是，通过提出的动态表面控制方案解决了固有问题，即常规反推控制中的“复杂性爆炸”。另一个关键特性是同时考虑了外部尾流涡流，干扰和内部执行器故障，输入饱和。 Lyapunov稳定性分析表明，闭环系统即使在存在尾流涡流和执行器故障的情况下，最终也始终受到安全要求的限制。仿真结果进一步验证了该方法的有效性。 （C）2018 Elsevier Masson SAS。版权所有。

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