固定翼无人机集群预定时间仿射编队容错控制

  • 方骏 ,
  • 李涛 ,
  • 郭永 ,
  • 李爱军 ,
  • 王长青 ,
  • 陆宏湜
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  • 1. 西北工业大学
    2. 近地面探测全国重点实验室
    3. 西北工业大学,自动化学院

收稿日期: 2025-12-08

  修回日期: 2026-07-20

  网络出版日期: 2026-07-24

基金资助

国家自然科学基金;重庆市自然科学基金

Predefined-Time Affine Formation Fault-Tolerant Control for Fixed-Wing UAVs

  • FANG Jun ,
  • LI Tao ,
  • GUO Yong ,
  • LI Ai-Jun ,
  • WANG Chang-Qing ,
  • LU Hong-Shi
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Received date: 2025-12-08

  Revised date: 2026-07-20

  Online published: 2026-07-24

摘要

针对带有输入受限和执行器故障的固定翼无人机仿射编队控制问题,提出了一种新颖的预定时间仿射编队容错控制策略。首先,为了处理执行器故障问题,建立了输入信号故障模型,并在无人机轴向控制输入不对称的情况下,设计了饱和函数对输入受限信号进行处理,将容错和输入受限问题转化为变增益控制问题;其次,根据反步控制思想,设计了预定时间抗饱和仿射编队容错控制策略,利用自适应和神经网络控制理论,分别对存在的外部扰动和由变增益问题引起的未知动态进行补偿,并通过李雅普诺夫稳定性理论和预定时间理论,严格证明了系统的稳定性和预定时间收敛性。最后,通过数值仿真验证了本文设计的控制策略具备抗干扰和抗饱和性能,能够在预定时间内实现无人机仿射编队容错控制。

本文引用格式

方骏 , 李涛 , 郭永 , 李爱军 , 王长青 , 陆宏湜 . 固定翼无人机集群预定时间仿射编队容错控制[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2026.33204

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.

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