自动化学报2024，Vol.50Issue(8)：1589-1600,12.DOI:10.16383/j.aas.c230699
基于层级结构的空-地协同预设时间最优容错控制
Hierarchical-based Prescribed-time Optimal Fault-tolerant Control for Air-ground Cooperative System
摘要
Abstract
This article investigates the hierarchical structure-based optimal formation control problem of a hetero-geneous formation system of unmanned aerial vehicles and unmanned ground vehicles.This article focuses on the optimization control with fault-tolerant performance and fast convergence speed,and constructs a prescribed-time optimal fault-tolerant control algorithm based on hierarchical control,graphical game theory,and prescribed-time control method.In virtual layer,an quadratic performance index function based on consistency tracking error and energy consumption is designed,and approximate optimal control strategy is obtained by using coupled Hanmilton-Jacobi-Bellman(HJB)equation and reinforcement learning,which achieves synchronous optimal control and inter-active Nash equilibrium of multiagent systems.In actual control layer,a prescribed-time fault-tolerant tracking con-troller is designed based on the optimal signal,sliding-mode and adaptive technologies,which realizes the finite-time tracking of the optimal formation trajectory.The proposed method ensures that the global convergence time is com-pletely independent of the initial states of the system and controller parameters,while also effectively approximat-ing the actuator fault parameters.Finally,the effectiveness of the constructed control strategy is verified through simulation experiment.关键词
空-地协同/执行器故障/预设时间编队/图博弈/最优控制Key words
Air-ground cooperation/actuator faults/prescribed-time formation/graphical game/optimal control引用本文复制引用
成旺磊,张柯,姜斌..基于层级结构的空-地协同预设时间最优容错控制[J].自动化学报,2024,50(8):1589-1600,12.基金项目
国家自然科学基金(62020106003,62173180,62233009),江苏省自然科学基金(BK20222012),高等学校学科创新引智计划(B20007),中央高校基本科研业务费(NC2022003,NE2022002),江苏高校"青蓝工程",国家资助博士后研究人员计划(GZB20240974)资助Supported by National Natural Science Foundation of China(62020106003,62173180,62233009),Natural Science Foundation of Jiangsu Province of China(BK20222012),111 Project of the Programme of Introducing Talents of Discipline to Universities of China(B20007),the Fundamental Research Funds for the Cent-ral Universities(NC2022003,NE2022002),Qing Lan Project of Jiangsu Province of China,and Postdoctoral Fellowship Pro-gram of CPSF(GZB20240974) （62020106003,62173180,62233009）
