曲阜师范大学学报（自然科学版）2026，Vol.52Issue(1)：34-48,15.DOI:10.3969/j.issn.1001-5337.202406.048
基于性能保证的异构多无人系统自适应容错控制
Cooperative adaptive fault-tolerant control for heterogeneous unmanned systems with guaranteed performance
摘要
Abstract
This paper studies the fault-tolerant control problem for the heterogeneous multiagent sys-tems consisting of multiple quadrotors and mobile robots with guaranteed performance in the presence of actuator faults and external disturbances.Firstly,the full-state performance constraints of the UAUs-UGVs formation are considered,especially in the case of actuator faults,and then the state constraints of heterogeneous unmanned systems are addressed by combining the performance functions and the barrier Lyapunov method.Then,the neural-network-based adaptive fault-tolerant control strategy is proposed to compensate for the unknown actuator loss of effectiveness and bias faults.Based on Lyapunov theory,the cooperative fault-tolerant time-varying formation convergence performance is discussed.The simulation re-sults on the formation tracking configuration and synohronization error are presented to validate the effec-tiveness of the proposed control strategy.关键词
容错控制/异构多智能体系统/执行器故障/自适应控制/性能约束Key words
fault-tolerant control/adaptive control/heterogeneous multiagent systems/actuator fault/performance constraint分类
信息技术与安全科学引用本文复制引用
龚建业,王秀丽,郝梦雅,王村松..基于性能保证的异构多无人系统自适应容错控制[J].曲阜师范大学学报（自然科学版）,2026,52(1):34-48,15.基金项目
国家自然科学基金(62303414,62203213) （62303414,62203213）
浙江省自然科学基金(LQ23F030016) （LQ23F030016）
江苏省自然科学基金(BK20250897). （BK20250897）
