Robust fault-tolerant formation control for tail-sitters

被引：0
作者：
Liu D. [1 ]
Liu H. [1 ]
Lewis F.L. [2 ]
机构：
[1] School of Astronautics, Beihang University, Beijing
[2] University of Texas at Arlington Research Institute, University of Texas at Arlington, Fort Worth
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2021年 / 42卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Fault-tolerant control; Formation control; Robust control; Tail-sitter unmanned aerial vehicles; Uncertain systems;
D O I：
10.7527/S1000-6893.2020.24296
中图分类号：
学科分类号：
摘要：
This paper addresses the problem of fault-tolerant formation control for multiple tail-sitters subject to actuator faults, serious nonlinearity and coupling, parameter uncertainties, and external disturbances. A robust fault-tolerant formation control protocol is proposed to achieve the desired formation pattern for a group of tail-sitters with actuator faults. The constructed controller consists of a nominal controller and a robust disturbance compensating controller. The former is constructed to achieve optimal control performance, while the latter aims to restrain the effects of actuator faults and uncertainties. The formation flying stability is proved, and the simulation results demonstrate the effectiveness of the developed control protocol. © 2021, Beihang University Aerospace Knowledge Press. All right reserved.
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