考虑输入饱和的小型纵列双旋翼无人机编队预设时间容错控制

doi:10.7527/S1000-6893.2026.33222

Abstract

Abstract:

For collaborative search missions in confined spaces such as disaster-stricken ruins and industrial pipelines， the formation of small tandem-rotor unmanned aerial vehicles （STR-UAVs） with narrow fuselages and long endurance forms an ideal operational platform. To address the multiple constraints of input saturation， external disturbances， and actuator failures in such complex operational environments， an adaptive distributed prescribed-time fault-tolerant formation control strategy is proposed. Firstly， a novel smooth saturation function is designed to address the issue of input saturation constraints with asymmetric sign. Secondly， a novel prescribed-time sliding mode surface is constructed， achieving the convergence of formation errors within a user-defined time. Thirdly， an adaptive distributed prescribed-time fault-tolerant formation control strategy is proposed by integrating the aforementioned smooth saturation function， prescribed-time sliding mode surface， and adaptive method. Finally， based on Lyapunov theory， the prescribed-time stability of the proposed formation control strategy is rigorously proven， and numerical simulations are conducted. The simulation results not only validate the effectiveness of the proposed control strategy but also highlight its superiority over some existing methods through qualitative analysis and quantitative comparisons.

Key words: STR-UAV, prescribed-time control, fault-tolerant control, saturation function, adaptive control, formation control

CLC Number:

V249

Xiaolu LI, Changqing WANG, Yong GUO, Aijun LI. Prescribed-time fault-tolerant control for small tandem-rotor UAV formation with input saturation[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(19): 333222.

Figures/Tables 24

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Table 1

Initial status information for STR-UAV formation members

STR-UAV	$p$	$v$
领导者0	$p 0 = [0,10,3] T$ m	$v 0 = [1, - 2 s i n (0.2 t), 0.5] T m / s$
跟随者1	$p 1 = [- 1,12,0] T$ m	$v 1 = [0,0, 0] T$ m/s
跟随者2	$p 2 = [4,9, 0] T$ m	$v 2 = [0,0, 0] T$ m/s
跟随者3	$p 3 = [3,13,0] T$ m	$v 3 = [0,0, 0] T$ m/s

Table 1

Table 2

Failure information for STR-UAV formation members

STR-UAV	故障时间 $t i f$	$ω i (t)$	$h i (t)$
跟随者1	$t 1 f = 10$ s	$d i a g 1,1, 0.5 + 0.5 e - 10 m a x 0, t - t 1 f$	$[0,0, 5 1 - e - 10 m a x 0, t - t 1 f] T$
跟随者2	$t 2 f = 20$ s	$d i a g 1,0.8 + 0.2 e - 10 m a x 0, t - t 2 f, 1$	$[0,2 1 - e - 10 m a x 0, t - t 2 f, 0] T$
跟随者3	$t 3 f = 30$ s	$d i a g 0.9 + 0.1 e - 10 m a x 0, t - t 3 f, 1,1$	$[2 1 - e - 10 m a x 0, t - t 3 f, 0,0] T$

Table 2

Table 3

Control parameters information table for STR-UAV formation

控制参数	数值
$α i 1, α i 2, b i, κ i, T i 1$	$0.5,0.2,1.0,0.7,1.0$
$c i 1, δ i 2, φ i 2, T i 2$	$5.0,0.6,0.05,0.01$
λ_i₁，λ_i₂	700，700

Table 3

Table 4

Preset positions information table for STR-UAV formation

位置参数	数值
$p 1 d$	$[- 2,0, - 2]$ m
$p 2 d$	$[2,0, - 2]$ m
$p 3 d$	$[0,0, - 4]$ m

Table 4

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Table 5

Performance metrics under different fault-tolerant control strategies

控制策略	$J M S E$	$J I S E$	$J I T S E$
AFTC	0.035 0	1.718 0	0.583 4
FTFTC	0.039 8	1.958 6	0.567 7
FxTFTC	0.039 8	1.961 6	0.572 0
PTFTC	0.035 0	1.721 4	0.538 5

Table 5

Fig.16

Fig.17

Fig.18

Table 6

Performance metrics under different anti-saturation control strategies

控制策略	$J M S E$	$J I S E$	$J I T S E$
ASCAS	0.037 6	1.848 5	1.491 6
ASCSSF	0.032 7	1.605 8	0.976 3

Table 6

References 31

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Prescribed-time fault-tolerant control for small tandem-rotor UAV formation with input saturation

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