一种无人机⁃无人车编队系统容错控制方法

doi:10.7527/S1000-6893.2022.27216

Abstract

Abstract:

To compensate for the problem of communication link additive faults of Unmanned Aerial Vehicles (UAVs)-Unmanned Ground Vehicles (UGVs) formation system, a fault-tolerant formation control algorithm is proposed based on distributed adaptive observers. The models of quad-rotor UAV and two-wheeled mobile robot control systems are transformed, and the model for the UAVs-UGVs formation system is further constructed. Based on the "virtual leader-followers" topology, distributed adaptive observers are designed by using the local information of adjacent agents to realize the observation of virtual leader's states with communication link additive faults. The adaptive fault-tolerant formation controllers of UAVs-UGVs system are designed based on the backstepping method. Finally, the effectiveness of the designed observers and controllers is verified by simulation of the formation system composed of three quad-rotor UAVs and three two-wheeled mobile robots.

Key words: heterogeneous multi-agent system, UAVs-UGVs formation system, communication link additive fault, fault-tolerant formation tracking, adaptive control

CLC Number:

V219

Yajie MA, Juan WANG, Bin JIANG, Jianye GONG. A fault⁃tolerant control scheme for UAVs-UGVs formation systems[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(8): 327216-327216.

Figures/Tables 12

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References 26

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A fault⁃tolerant control scheme for UAVs-UGVs formation systems

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