带有输入受限的无人机精确编队合围容错控制

doi:10.7527/S1000-6893.2022.27414

Abstract

Abstract:

To solve the problem of containment control for precise formation of UAVs with input saturation and actuator failure， a communication topology design algorithm based on containment control architecture and a distributed adaptive finite-time fault-tolerant control algorithm based on Nussbaum function are proposed. The combination of the two algorithms overcomes the defect that the existing containment control cannot make the followers converge to the pre-defined formation. Firstly， using the knowledge of convex figures and communication topology of containment control， a communication topology design algorithm is proposed to make followers form precise formation. Secondly， by utilizing a novel hyperbolic tangent function to smooth the constrained input， the containment control issue for UAVs with input saturation and actuator fault can be turned into a variable gain control problem. Then， the Nussbaum-based control algorithm is utilized to solve the issue. Finally， the finite-time convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

Key words: finite-time control, fault-tolerant control, containment control, precise formation control, Nussbaum function, input saturation

CLC Number:

V249

Bojian LIU, Aijun LI, Yong GUO, Changqing WANG. Fault-tolerant containment control for precise formation of UAVs with input saturation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(9): 327414-327414.

Figures/Tables 24

Fig. 1

Table 1

Initial states of UAV team

无人机	$p i 1 (t 0)$ /m	$p i 2 (t 0)$ /m
跟随者 1	［5，-1，-1］	［30，0，0］
跟随者 2	［3，1，-3］	［30，0，0］
跟随者 3	［5，-1，-3］	［30，0，0］
领航者 1	［20，-5，-10］	［30，0，0］
领航者 2	［20，-5，10］	［30，0，0］
领航者 3	［20，10，10］	［30，0，0］
领航者 4	［20，10，-10］	［30，0，0］

Table 1

Table 2

Parameters of controller

控制参数	取值
$ε P$ ， $ε d$	｛0.01， 0.01｝
$β i 1$ ， $β i 2$ ， $β i 3$ ， $β i 4$	｛1.1， 0.01， 1.3， 0.01｝
$k i 1$ ， $k i 2$ ， $k i 3$	｛3.5， 3， 0.05｝
$g i 1$ ， $g i 2$	｛1.2， 0.5｝
$γ$	0.92

Table 2

Table 3

Information of faults for followers

无人机	故障时间 $t s i$ /s	$ς i (t)$	$h i (t)$
跟随者 1	20	$d i a g 1,0.3 + 0.7 e x p {- 2 m a x {0, t - t s i}}, 1$	$0,0, 0$
跟随者 2	30	$d i a g 0.5 + 0.5 e x p {- 2 m a x {0, t - t s i}}, 1,1$	${10 {1 - e x p {- 2 m a x {0, t - t s i}}}, 0,0}$
跟随者 3	10	$d i a g 1,1, 0.8 + 0.2 e x p {- 2 m a x {0, t - t s i}}$	${0,0, 10 {1 - e x p {- 2 m a x {0, t - t s i}}}$

Table 3

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Fault-tolerant containment control for precise formation of UAVs with input saturation

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