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针对由多个四旋翼无人机和两轮驱动无人车组成的异构多智能体系统，研究了其存在执行器时变故障和外部干扰时具有性能保证的容错控制问题.首先考虑多无人机-多无人车编队系统的全状态性能约束，特别是在执行器故障的情况下，结合性能函数和障碍Lyapunov方法解决跟随者无人机与无人车的位置与速度、姿态角与角速度约束问题.然后，提出基于神经网络的自适应容错控制策略来补偿未知执行器部分失效故障和外部扰动的影响.基于Lyapunov理论，分析了多无人机-多无人车编队系统的协同容错性能.最后，给出了多无人机-多无人车编队系统的编队跟踪构型与同步误差仿真结果，以验证所提出控制策略的有效性.
Abstract：This paper studies the fault-tolerant control problem for the heterogeneous multiagent systems consisting of multiple quadrotors and mobile robots with guaranteed performance in the presence of actuator faults and external disturbances.Firstly, the full-state performance constraints of the UAUs-UGVs formation are considered, especially in the case of actuator faults, and then the state constraints of heterogeneous unmanned systems are addressed by combining the performance functions and the barrier Lyapunov method.Then, the neural-network-based adaptive fault-tolerant control strategy is proposed to compensate for the unknown actuator loss of effectiveness and bias faults.Based on Lyapunov theory, the cooperative fault-tolerant time-varying formation convergence performance is discussed.The simulation results on the formation tracking configuration and synohronization error are presented to validate the effectiveness of the proposed control strategy.
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基本信息:
中图分类号:TP273
引用信息:
[1]龚建业,王秀丽,郝梦雅,等.基于性能保证的异构多无人系统自适应容错控制[J].曲阜师范大学学报(自然科学版),2026,52(01):34-48.
基金信息:
国家自然科学基金(62303414,62203213); 浙江省自然科学基金(LQ23F030016); 江苏省自然科学基金(BK20250897)
2024-06-03
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2025-04-21
2025-04-21
2025-04-21