摘要
针对执行器故障情况下的四旋翼无人机编队轨迹跟踪问题,提出一种预设性能反步滑模分布式分层容错控制策略。通过设计虚拟编队协同层与实际物理执行层的双层编队架构,有效解决了传统分布式编队控制中的误差耦合与故障影响传播问题。根据系统初始状态可观测性,分别设计针对已知初始状态的预设性能反步滑模控制器和针对未知初始状态的改进型预设性能反步控制器。引入自适应神经网络观测器对执行器故障和外部干扰进行实时估计与补偿。仿真结果表明,所提策略在动态响应、跟踪精度和容错性能等方面均表现出色,验证了其有效性和鲁棒性。
This paper proposes a prescribed-performance backstepping sliding-mode distributed hierarchical fault-tolerant control strategy for quadrotor UAV formation trajectory tracking under actuator failures.A dual-layer formation architecture comprising a virtual cooperative layer and a physical execution layer is designed to effectively address error coupling and fault propagation issues in traditional distributed formation control.Based on the observability of initial system states,two controllers are developed:a prescribed-performance backstepping sliding-mode controller for known initial states and an improved prescribed-performance backstepping controller for unknown initial states.An adaptive neural network observer is introduced to estimate and compensate for actuator faults and external disturbances in real time.Simulation results demonstrate the outstanding performance of the proposed strategy in dynamic response,tracking accuracy,and fault tolerance,verifying its effectiveness and robustness.
作者
许国富
李俊丽
毛剑琳
吴宇涵
XU Guofu;LI Junli;MAO Jianlin;WU Yuhan(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China)
出处
《计算机工程与应用》
北大核心
2026年第3期112-125,共14页
Computer Engineering and Applications
基金
云南省科技人才与平台计划(202505AT350001)。
关键词
四旋翼无人机
执行器故障
预设性能
分布式编队
容错控制
quadrotor UAV
actuator fault
prescribed performance
distributed formation
fault-tolerant control
