海军航空大学学报2023，Vol.38Issue(6)：503-509,7.DOI:10.7682/j.issn.2097-1427.2023.06.009
基于Nussbaum函数的多无人机预设性能反步容错协同控制
Nussbaum-Based Prescribed Performance Backstepping Fault-Tolerant Cooperative Control of Multi-UAVs
摘要
Abstract
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.关键词
无人机/Nussbaum函数/容错控制/预设性能/反步控制Key words
UAV/Nussbaum function/fault-tolerant control/prescribed performance/backstepping control分类
计算机与自动化引用本文复制引用
孙朋悦,杨海川,李嘉旭,余自权..基于Nussbaum函数的多无人机预设性能反步容错协同控制[J].海军航空大学学报,2023,38(6):503-509,7.基金项目
国家自然科学基金(62373188,62003162) （62373188,62003162）
航空科学基金(20220007052003) （20220007052003）
江苏省自然科学基金(BK20200416) （BK20200416）
中国高校产学研创新基金(2021ZYA02005) （2021ZYA02005）
空间智能控制技术实验室开放基金(HTKJ2022KL502015) （HTKJ2022KL502015）
南京航空航天大学研究生科研与实践创新计划(xcxjh20230313,xcxjh20220325) （xcxjh20230313,xcxjh20220325）
