基于层级结构的空-地协同预设时间最优容错控制OA北大核心CSTPCD

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.