控制理论与应用2025，Vol.42Issue(7)：1333-1344,12.DOI:10.7641/CTA.2024.30458
多四旋翼无人机的分布式容错编队跟踪控制
Distributed fault-tolerant formation tracking control & for multiple-quadrotor UAVs
摘要
Abstract
An adaptive non-singular fast terminal sliding mode control(ANFTSMC)strategy is proposed to improve the performance of quadrotor UAV formation systems for the problem that quadrotor UAV formation under directed com-munication topology is susceptible to air drag,external disturbances,actuator failures,and other uncertainties during flight.The strategy mainly uses the adaptive parameter adjustment method to improve the non-singular fast terminal sliding mode controller,which can effectively estimate the upper bound of the total disturbance of the unknown set,ensure that the slid-ing mode surface reaches the equilibrium point,and ensure that the tracking error converges to zero in finite time.Second,according to the leader-follower structure,the distributed formation controller is designed so that the follower only needs the neighboring state information to achieve communication and reduce the dependence on the global and leader informa-tion.In addition,the quadrotor UAV formation system is analyzed based on the Lyapunov stability theory,and it is proved that the algorithm can make the multi-UAV formation tracking error converge to zero.Finally,the results of the compar-ative simulation show that the control algorithm of this paper has better fault-tolerance performance for the formation of multi-quadrotor UAVs in the presence of external disturbances and actuator failure.关键词
有向通信拓扑结构/自适应非奇异快速终端滑模控制/四旋翼无人机/分布式编队控制器/执行器故障Key words
directed communication topology/adaptive non-singular fast terminal sliding mode control/quadrotor UAV/distributed formation controller/actuator failure引用本文复制引用
王君,李昂..多四旋翼无人机的分布式容错编队跟踪控制[J].控制理论与应用,2025,42(7):1333-1344,12.基金项目
国家自然科学基金项目(61463030)资助.Supported by the National Natural Science Foundation of China(61463030). （61463030）
