|
|
论文:2020,Vol:38,Issue(5):1084-1093 |
|
|
引用本文： |
|
|
马小山, 董文瀚, 李炳乾. 考虑拓扑故障的无人机编队容错控制方法研究[J]. 西北工业大学学报 |
|
|
MA Xiaoshan, DONG Wenhan, LI Bingqian. A Fault-Tolerant Control Method for Unmanned Aerial Vehicle(UAV) Formation with Topological Faults Considered[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 考虑拓扑故障的无人机编队容错控制方法研究 |
|
| 马小山1, 董文瀚2, 李炳乾3 |
|
1. 空军工程大学 研究生院, 陕西 西安 710038;
2. 空军工程大学 航空工程学院, 陕西 西安 710038;
3. 空军工程大学 航空机务士官学校, 河南 信阳 464000 |
| 摘要: |
| 针对无人机编队在拓扑故障、舵面故障、执行器故障和不确定性情况下的控制问题，提出了一种编队容错控制方法。首先建立了编队运动模型和无人机运动模型；然后在拓扑故障检测方法的基础上，提出了拓扑故障重构优化算法，实现最小通信代价和队形重构代价的编队拓扑故障重构优化；在反步容错控制方法的设计过程中，通过执行器故障辨识模块和辅助系统模块来对执行器故障和舵面故障进行估计和补偿，实现执行器故障、舵面故障和不确定性条件下的编队稳定飞行。仿真结果验证了所设计的拓扑故障下无人机编队反步容错控制方法的优越性。 |
| 关键词:
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
|
|
| A Fault-Tolerant Control Method for Unmanned Aerial Vehicle(UAV) Formation with Topological Faults Considered |
|
| MA Xiaoshan1, DONG Wenhan2, LI Bingqian3 |
|
1. 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 |
| Abstract: |
| 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
|
|
| 收稿日期: 2019-09-19
修回日期:
|
| DOI: 10.1051/jnwpu/20203851084 |
| 基金项目: 航空科学基金（20141396012）资助 |
| 通讯作者:
Email： |
| 作者简介: 马小山(1994-),空军工程大学博士研究生,主要从事自适应容错控制研究。
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] 张民, 夏卫政, 黄坤,等. 基于Leader-Follower编队的无人机协同跟踪地面目标制导律设计[J]. 航空学报, 2018, 39(2):321497 ZHANG Min, XIA Weizheng, HUANG Kun, et.al. Guidance Law for Cooperative Tracking of a Ground Target Based on Leader-Follower Formation of UAVs[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(2):321497(in Chinese)
[2] NEGASH L, KIM S H, CHOI H L. Distributed Observes for Cyber-Attack Detection and Isolation in Formation-Flying Unmanned Aerial Vehicles[J]. Journal of Aerospace Information Systems, 2017, 14(2):1-15
[3] YANG H, JIANG B, ZHANG Y M. Fault-Tolerant Shortest Connection Topology Design for Formation Control[J]. International Journal of Control Automation and Systems, 2014, 12(1):29-36
[4] XU D Z, JIANG B, Shi P. Robust NSV Fault-Tolerant Control System Design against Actuator Faults and Control Surface Damage under Actuator Dynamics[J]. IEEE Trans on Industrial Electronics, 2015, 62(9):5919-5928
[5] WANG Q S, HUANG D, DUAN Z S et.al. Consensus Tracking Control with Transient Performance Improvement for a Group of Unmanned Aerial Vehicles Subject to Faults and Parameter Uncertainty[J]. International Journal of Control, 2019, 92(4):796-815
[6] GIULIETTI F, POLLINI L, INNOCENTI M. Autonomous Formation Flight[J]. IEEE Control Systems, 2000, 20(6):34-44
[7] POLLINI L, GIULIETTI F, INNOCENTI M. Robustness to Communication Failures within Formation Flight[C]//Proceedings of the 2002 American Control Conference, Anchorage, AK, USA, 2002:2860-2866
[8] WANG B, ZHANG Y M. An Adaptive Fault-Tolerant Sliding Mode Control Allocation Scheme for Multi-Rotor Helicopter Subject to Simultaneous Actuator Faults[J]. IEEE Trans on Industrial, Electronics, 2018, 65(5):4227-4236
[9] LI P, YU X, PENG X Y, et al. Fault-Tolerant Cooperative Control for Multiple UAVS Based on Sliding Mode Techniques[J]. Science China Information Sciences, 2017, 60(7):070204
[10] MOHAMED A K, KHALED A G, ZHANG Y M. Real-Time Fault-Tolerant Cooperative Control of Multiple UAVS-UGVS in the Presence of Actuator Faults[J]. Journal of Intelligent & Robotic Systems, 2017, 88(2/3/4):469-480
[11] YU X, LIU Z X, ZHANG Y M. Fault-Tolerant Formation Control of Multiple UAVS in the Presence of Actuator Faults[J]. International Journal of Robust and Nonlinear Control, 2016, 26(12):2668-2685
[12] YU Z Q, QU Y H and ZHANG Y M. Fault-Tolerant Control of Multiple Unmanned Aerial Vehicles Based on Distributed Sliding-Mode Observer[J]. Journal of Intelligent & Robotic Systems, 2019, 93:163-177
[13] WANG G Q, LUO H, HU X X et al. Fault-Tolerant Communication Topology Management Based on Minimum Cost Arborescence for Leader-Follower UAV Formation under Communication Faults[J]. International Journal of Advanced Robotic Systems, 2017, 14(2):2551-2565
[14] XU D Z, JIANG B, SHI P. Robust NSV Fault-Tolerant Control System Design against Actuator Faults and Control Surface Damage under Actuator Dynamics[J]. IEEE Trans on Industrial Electronics, 2015, 62(9):5919-5928
[15] 赖薇, 孟斌, 孙鸿飞. 高超声速飞行器再入姿态鲁棒控制[J]. 控制理论与应用, 2015, 32(10):1287-1297 LAI Wei, MENG Bin,SUN Hongfei. Robust Attitude Control of Hypersonic Vehicles in Reentry Phase[J]. Control Theory and Applications, 2015, 88(5):885-896(in Chinese) |
|
|
|
相关文献: |
|
|
1．李炳乾, 董文瀚, 马小山.基于滑模观测器的无人推力矢量飞机反步容错控制[J]. 西北工业大学学报, 2018,36(5): 978-987 |
|
|
|
|
|
|
