航空学报2026，Vol.47Issue(9)：199-216,18.DOI:10.7527/S1000-6893.2025.32499
高速变外形飞行器动态事件触发预设性能编队控制
Dynamic event-triggered prescribed performance formation control for hypersonic morphing vehicles
摘要
Abstract
Safe formation control for foldable hypersonic morphing vehicles is investigated in this paper.With actuator saturation,faults,and external disturbances,a two-layer cooperative formation control scheme is established.Firstly,based on consensus theory,the formation task is divided into a position outer loop and an attitude inner loop.In the outer loop,a prescribed-time prescribed-performance function is introduced to constrain the position error,which forces it to reach a preset boundary within the specified time without overshoot.Consequently,both transient and steady-state formation performance is enhanced.Secondly,in the inner loop,an anti-saturation compensator is pro-posed to mitigate input limits,and the minimum fault effectiveness factor together with the disturbance bound is treated as a composite disturbance.A tan-barrier type Lyapunov function is employed to derive an adaptive law that estimates the bound of composite disturbance online and bounded tracking of the outer-loop command is guaranteed.Further-more,a dynamic event-triggered mechanism with an internal dynamic variable is proposed.The threshold is adjusted online,which preserves control accuracy while markedly reducing communication and computation loads.Thirdly,to accommodate aerodynamic variations caused by structural morphing,local controllers are allocated to each morphing subsystem,and overall stability of the resulting non-stationary switching system is rigorously proven through Lyapunov stability theory and the average dwell-time condition.The effectiveness of the proposed scheme is verified through nu-merical simulations.关键词
高速变外形飞行器/安全编队控制/预设性能/动态事件触发/障碍李雅普诺夫函数/平均驻留时间/容错控制Key words
hypersonic morphing vehicles/safe formation control/prescribed performance/dynamic event-triggered/barrier Lyapunov function/average dwell time/fault-tolerant control分类
航空航天引用本文复制引用
王婕,杨铭,田栢苓,李博皓,陈治世..高速变外形飞行器动态事件触发预设性能编队控制[J].航空学报,2026,47(9):199-216,18.基金项目
国家自然科学基金(62473042,62473024) （62473042,62473024）
国家重点研发计划(2022YFA1004700) National Natural Science Foundation of China(62473042,62473024) （2022YFA1004700）
National Key Research and Development Project of China(2022YFA1004700) （2022YFA1004700）
