针对尾座式无人飞行器编队在执行器故障、严重的非线性和耦合性、参数不确定性、外界扰动等影响下的容错控制问题进行了研究。提出了一种鲁棒容错编队控制方法来实现一群尾座式无人飞行器在执行器故障情况下的期望编队飞行。所构建的控制器由2部分组成：标称控制器和干扰补偿控制器。设计标称控制器使系统实现期望的控制性能，利用干扰补偿控制器抑制多种不确定性和执行器故障的影响。通过理论分析证明了系统的鲁棒稳定性，并通过数值仿真验证了算法的有效性。
This paper addresses the problem of fault-tolerant formation control for multiple tail-sitters subject to actuator faults, serious nonlinearity and coupling, parameter uncertainties, and external disturbances. A robust fault-tolerant formation control protocol is proposed to achieve the desired formation pattern for a group of tail-sitters with actuator faults. The constructed controller consists of a nominal controller and a robust disturbance compensating controller. The former is constructed to achieve optimal control performance, while the latter aims to restrain the effects of actuator faults and uncertainties. The formation flying stability is proved, and the simulation results demonstrate the effectiveness of the developed control protocol.
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