关键词: 仿射编队控制, 预定时间控制, 输入饱和, 神经网络控制, 容错控制

Abstract: To address the predefined-time affine formation control problem of fixed-wing unmanned aerial vehicles (UAVs) with input constraints and actuator faults, a novel predefined-time affine formation fault-tolerant control strategy is proposed. First, considering possible actuator faults, a fault model of the input signal is established, and considering the asymmetry of axial control inputs in UAVs, a smooth function is constructed to process the limited input signals, transforming the fault-tolerant and input-constrained control problems into a variable-gain control framework. Then, based on the backstepping control approach, a predefined-time anti-saturation affine formation fault-tolerant control strategy is developed. By employing adaptive control and neural network techniques, external disturbances and the unknown dynamics induced by the variable-gain problem are effectively compensated. The stability and predefined-time convergence of the closed-loop system are rigorously proven using Lyapunov stability theory and predefined-time convergence theory. Finally, numerical simulations demonstrate that the proposed control strategy exhibits strong robustness against disturbances and input saturation, and can achieve affine formation fault-tolerant control of UAVs within the predefined time.

Key words: Affine Formation Control, Predefined-Time Control, Input Saturation, Neural Network Control, Fault-Tolerant Control