Volume 38, Number 5, October 2020
|Page(s)||1084 - 1093|
|Published online||08 December 2020|
A Fault-Tolerant Control Method for Unmanned Aerial Vehicle (UAV) Formation with Topological Faults Considered
Postgraduate College, Air Force Engineering University, Xi'an 710038, China
2 College of Aeronautics Engineering, Air Force Engineering University, Xi'an 710038, China
3 Aviation Maintenance NCO Academy, Air Force Engineering University, Xinyang 464000, China
A fault-tolerant control method for the UAV formation that has topological fault, control surface fault, actuator fault and uncertainty is proposed. Firstly, the formation motion model and the UAV motion model are established. Then based on the topological fault detection method, the topological fault reconstruction and optimization algorithm is proposed to realize the formation topological fault reconstruction and optimization with minimum communication cost and formation reconstruction cost. In designing the backstepping fault-tolerant control method, the actuator's fault identification module and the auxiliary system module are used to estimate and compensate for the faults of the actuator and the control surface respectively so as to realize the stable flight of the UAV formation under the conditions of actuator fault, control surface fault and uncertainty. The simulation results verify the superiority of the fault-tolerant control method for the UAV formation with topological faults.
Key words: unmanned aerial vehicles / formation / topological fault / control surface fault / actuator fault / fault reconstruction / optimization algorithm / backstepping-fault-tolerant control
关键字 : 无人机编队 / 拓扑故障 / 舵面故障 / 执行器故障 / 拓扑故障重构优化算法 / 反步容错控制
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
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