信息与控制2024，Vol.53Issue(1)：71-85,15.DOI:10.13976/j.cnki.xk.2023.2524
多无人机编队递归非奇异终端滑模容错控制
Recursive Non-singular Terminal Sliding Mode Fault-tolerant Control of Multi-UAV Formation
摘要
Abstract
To solve the problem that quadrotor unmanned aerial vehicle(UAV)formation flying is easily affected by external interference,air resistance,actuator failure,and other uncertain factors,we propose a recursive nonsingular terminal sliding mode control(RNTSMC)method based on a com-pensation function observer(CFO)to improve the performance of quadrotor UAV formation sys-tems.First,we introduce a CFO with high-precision estimation to estimate the external disturbance and actuator fault information in real time,improve the equivalent controller of nonsingular termi-nal sliding mode surface by designing a recursive integral terminal sliding mode surface to compen-sate the estimated information and produce the initial value of the sliding mode surface,a pledge that two sliding mode surfaces,in turn,reach a balance in a row,and ensure that the tracking er-ror converges to zero quickly in a finite time.Second,we establish a formation model according to the leader-follower method and design a formation cooperative controller based on the sliding mode control theory to ensure that the UAV formation completes the flight mission.Finally,the simula-tion results show that the proposed method has good fault tolerance performance for quadrotor UAV formation.关键词
四旋翼无人机/执行器故障/递归非奇异终端滑模控制/补偿函数观测器/编队控制Key words
quadrotor UAV/actuator failure/recursive non-singular termi-nal sliding mode control/compensation function observer/formation control分类
计算机与自动化引用本文复制引用
王君,李昂..多无人机编队递归非奇异终端滑模容错控制[J].信息与控制,2024,53(1):71-85,15.基金项目
国家自然科学基金资助项目(61463030) （61463030）
