针对现有无人直升机主动容错控制方法未考虑故障估计误差对编队控制精度影响的问题，建立故障估计误差与辅助控制器的博弈关系，将零和微分博弈理论与全驱系统方法相结合，融合设计出一种分层容错编队控制策略。首先，引入虚拟控制变量，并建立考虑执行器故障的无人直升机高阶全驱系统模型，包括位置外环和姿态内环高阶全驱子系统。然后，设计自适应故障估计器对无人直升机执行器故障进行有效估计。接着，结合故障估计信息和全驱系统方法，针对无人直升机内外环分层设计位置和姿态容错控制器，确保系统状态在故障下仍能实现编队控制目标。此外，引入辅助控制器与故障估计误差参与的零和微分博弈模型，通过动态事件触发机制下的自适应动态规划算法来获取近似最优解，以最小代价有效补偿故障估计误差对编队性能的影响。最后，通过仿真实验说明所提出控制方案的有效性和优越性。
Aiming at the problem that the existing active fault-tolerant control methods for unmanned helicopters do not 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 fullactuated system approach, a hierarchical fault-tolerant formation control strategy is developed. Firstly, virtual control 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. Subsequently, an adaptive fault estimator is designed to estimate the fault of unmanned helicopter effectively. Then, combining 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, which can ensure that the system state satisfies the formation control objective under faults. In addition, a zero-sum differential game model between auxiliary controller and fault estimation error is introduced, and the approximate optimal solution is obtained by adaptive dynamic programming algorithm under the dynamic event-triggered mechanism, effectively compensating for the impact of the fault estimation error on the formation performance at minimum cost. Finally, the effectiveness and superiority of the proposed control scheme are demonstrated by simulation experiments.
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