航空学报2026，Vol.47Issue(9)：267-284,18.DOI:10.7527/S1000-6893.2025.32279
基于全驱系统方法的无人直升机分层容错编队控制
Hierarchical fault-tolerant formation control for unmanned helicopters based on fully-actuated system approach
摘要
Abstract
To address the problem that the existing active fault-tolerant control methods for unmanned helicopters fail to consider the influence of fault estimation errors on the formation control accuracy,the game relationship between fault estimation errors and auxiliary controllers is established.By integrating zero-sum differential game theory and the full-actuated system approach,a hierarchical fault-tolerant formation control strategy is developed.Firstly,virtual con-trol variables are introduced,and the high-order fully actuated system model of the unmanned helicopter with actuator fault is established,including the position outer-loop and attitude inner-loop high-order fully actuated subsystems.Sub-sequently,an adaptive fault estimator is designed to estimate the fault of unmanned helicopter effectively.Then,com-bining the fault estimation information and the fully actuated system approach,the position and attitude fault-tolerant controllers are designed in a hierarchical manner for the inner and outer loops of the unmanned helicopter,ensuring that the system state satisfies the formation control objective under faults.Furthermore,a zero-sum differential game model between auxiliary controller and fault estimation error is introduced,and the approximate optimal solution is ob-tained by adaptive dynamic programming algorithm under the dynamic event-triggered mechanism,effectively com-pensating for the impact of the fault estimation error on the formation performance at minimum cost.Finally,the effec-tiveness and superiority of the proposed control strategy are demonstrated by simulation experiments.The results show that,under fault conditions,the proposed control strategy can further improve the formation performance of the unmanned helicopter system.关键词
无人直升机/全驱系统方法/容错编队控制/零和微分博弈/动态事件触发机制Key words
unmanned helicopter/fully-actuated system approach/fault-tolerant formation control/zero-sum differ-ential game/dynamic event-triggered mechanism分类
航空航天引用本文复制引用
卢园,张柯,姜斌..基于全驱系统方法的无人直升机分层容错编队控制[J].航空学报,2026,47(9):267-284,18.基金项目
国家自然科学基金(62173180,U25A20453) （62173180,U25A20453）
国家自然科学基金基础科学中心项目(62188101) （62188101）
江苏省自然科学基金(BZ2024037) National Natural Science Foundation of China(62173180,U25A20453) （BZ2024037）
Science Center Program of National Natural Science Foundation of China(62188101) （62188101）
Natural Science Foundation of Jiangsu Province(BZ2024037) （BZ2024037）
