| 引用本文: | 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.[点击复制] |
| WANG Jun,LI Ang.Distributed fault-tolerant formation tracking control & for multiple-quadrotor UAVs[J].Control Theory & Applications,2025,42(7):1333~1344.[点击复制] |
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| 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 |
| 摘要点击 3782 全文点击 346 投稿时间：2023-07-03 修订日期：2024-12-24 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30458 |
| 2025,42(7):1333-1344 |
| 中文关键词 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 |
| 英文关键词 directed communication topology adaptive non-singular fast terminal sliding mode control quadrotor UAV distributed formation controller actuator failure |
| 基金项目 国家自然科学基金项目(61463030)资助. |
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| 中文摘要 |
| 针对有向通信拓扑下的四旋翼无人机编队在飞行过程中易受到空气阻力、外部干扰、执行器故障等不确
定因素影响的问题, 提出了一种自适应非奇异快速终端滑模控制策略来提高四旋翼无人机编队系统性能. 该策略主
要利用自适应参数调整方法改进非奇异快速终端滑模控制器, 能够有效的估计出未知集总扰动的上界, 保证滑模面
到达平衡点, 确保跟踪误差在有限时间内收敛于0. 其次, 根据长–僚机结构, 设计分布式编队控制器, 使僚机仅需邻
居状态信息则可实现通信, 减少对全局及长机信息的依赖. 此外, 基于Lyapunov稳定性理论对四旋翼无人机编队系
统进行了分析, 证明该算法能使多无人机编队跟踪误差收敛于0. 最后, 通过对比仿真实验结果表明, 本文控制算法
对存在外部干扰和执行器故障的情况下, 多四旋翼无人机编队具有较好的容错性能. |
| 英文摘要 |
| 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 communication 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 sliding 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 information. 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 comparative 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. |
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