航空兵器2025，Vol.32Issue(2)：48-58,11.DOI:10.12132/ISSN.1673-5048.2024.0211
多固定翼无人机非奇异有限时间容错编队协同控制研究
Finite-Time Fault-Tolerant Formation Cooperative Control of Multiple Fixed-Wing UAVs
摘要
Abstract
Formation cooperative control technology,as a core and critical aspect of unmanned aerial vehicle(UAV)mission execution,is significantly influenced by factors such as natural conditions and mission time constraints in strong jamming environment.Under these circumstances,UAV formation cooperative control faces challenges such as"actuator failures"and"asymptotic convergence(the convergence time approaches infinity)".To address these is-sues,this paper proposes a non-singular finite-time fault-tolerant formation cooperative control strategy for a class of six-degree-of-freedom multi-fixed-wing UAV formation systems.Initially,finite-time formation cooperative control algo-rithms are developed for the velocity and attitude systems of fixed-wing UAVs.By introducing a novel switching func-tion,the potential singularities in the controller is resolved effectively.Subsequently,an adaptive update law based on fault parameters is designed to address actuator failures.Finally,the finite-time stability of the control algorithm is ri-gorously proven using finite-time stability theory.Semi-physical simulation experiments are conducted to validate the ef-fectiveness and feasibility of the proposed control method.关键词
无人机/六自由度/有限时间控制/执行器故障/奇异值/编队协同控制Key words
UAV/six degrees of freedom/finite-time control/actuator failure/singularity/formation cooperative control分类
军事科技引用本文复制引用
卢建华,袁泽浩,王宁,刘蕊,吕德坤..多固定翼无人机非奇异有限时间容错编队协同控制研究[J].航空兵器,2025,32(2):48-58,11.基金项目
国家资助博士后研究人员计划(B档)(GZB20230988) （B档）
中国博士后科学基金面上资助项目(2024M754258) （2024M754258）
