Hierarchical-based Prescribed-time Optimal Fault-tolerant Control for Air-ground Cooperative System

This article investigates the hierarchical structure-based optimal formation control problem of a heterogeneous formation system of unmanned aerial vehicles and unmanned ground vehicles. This article focuses on the optimization control with fault-tolerant performance and fast convergence speed, and constructs a prescribed-time optimal fault-tolerant control algorithm based on hierarchical control, graphical game theory, and prescribed-time control method. In virtual layer, an quadratic performance index function based on consistency tracking error and energy consumption is designed, and approximate optimal control strategy is obtained by using coupled Hanmilton-Jacobi-Bellman (HJB) equation and reinforcement learning, which achieves synchronous optimal control and interactive Nash equilibrium of multiagent systems. In actual control layer, a prescribed-time fault-tolerant tracking controller is designed based on the optimal signal, sliding-mode and adaptive technologies, which realizes the finite-time tracking of the optimal formation trajectory. The proposed method ensures that the global convergence time is completely independent of the initial states of the system and controller parameters, while also effectively approximating the actuator fault parameters. Finally, the effectiveness of the constructed control strategy is verified through simulation experiment. © 2024 Science Press. All rights reserved.