尾座式无人飞行器鲁棒容错编队控制

doi:10.7527/S1000-6893.2020.24296

Abstract

Abstract: 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.

Key words: formation control, fault-tolerant control, tail-sitter unmanned aerial vehicles, robust control, uncertain systems

CLC Number:

V249.1

LIU Deyuan, LIU Hao, Frank L LEWIS. Robust fault-tolerant formation control for tail-sitters[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(2): 324296-324296.

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Robust fault-tolerant formation control for tail-sitters

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