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首页> 外文期刊>IEEE Transactions on Control Systems Technology >Distributed Fault-Tolerant Cooperative Control for Multi-UAVs Under Actuator Fault and Input Saturation
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Distributed Fault-Tolerant Cooperative Control for Multi-UAVs Under Actuator Fault and Input Saturation

机译：执行器故障和输入饱和下的多无人机分布式容错协同控制

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This paper investigates a difficult problem of distributed fault-tolerant cooperative control for multiple unmanned aerial vehicles (UAVs) in the presence of actuator faults and input saturation. To eliminate the "explosion of complexity" in the traditional backstepping architecture, the dynamic surface control is utilized to construct the distributed fault-tolerant control scheme. Moreover, by using the disturbance observer technique, actuator faults and external disturbances are estimated as lumped uncertainties. Furthermore, to reduce the adverse influence caused by the control input saturation of UAVs, auxiliary dynamic systems are introduced to regulate the control signals when the input signals are saturated for a long time. The key feature is that the proposed fault-tolerant cooperative controller is designed based on the local information of neighboring UAVs and the factors including actuator faults, input saturation, and external disturbances are simultaneously addressed. It is shown by Lyapunov approach and graph theory that the synchronization tracking stability can be guaranteed and all follower UAVs can track the leader UAV. The effectiveness of the proposed control scheme is further validated by numerical simulation results.
机译：本文研究了存在执行器故障和输入饱和的情况下，多个无人机的分布式容错协同控制的难题。为了消除传统Backstepping体系结构中的“复杂性爆炸”，利用动态表面控制来构建分布式容错控制方案。此外，通过使用干扰观测器技术，将致动器故障和外部干扰估计为总不确定性。此外，为了减少由无人机的控制输入饱和引起的不利影响，当输入信号长时间处于饱和状态时，引入了辅助动态系统来调节控制信号。关键特征是，该建议的容错协作控制器是基于相邻无人机的本地信息设计的，并且可以同时解决执行器故障，输入饱和和外部干扰等因素。 Lyapunov方法和图论表明，可以保证同步跟踪的稳定性，并且所有从动无人机都可以跟踪前导无人机。数值仿真结果进一步验证了所提出控制方案的有效性。

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