Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance

A multi-UAV, random disturbance technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as research results that have not yet appeared

Active Publication Date: 2016-01-13
SHANDONG UNIV OF SCI & TECH
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  • Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance
  • Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance
  • Non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance

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[0052] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0053] Such as figure 1 As shown, the nonlinear multi-UAV system fault-tolerant formation control method considering random disturbance includes the following steps:

[0054] a Construct a nonlinear stochastic dynamic model of the UAV, and use the model and the given information of the reference trajectory and the information interaction between neighboring UAVs to obtain the output measurement information of each UAV.

[0055] Considering the nonlinear dynamic characteristics of UAV, external disturbance, measurement noise and channel interference, the nonlinear stochastic dynamic model of the i-th UAV is constructed as follows:

[0056] x · i ( ...

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Abstract

The invention discloses a non-linear multi-unmanned-aerial-vehicle-system fault-tolerance formation control method with consideration of random disturbance. The method comprises the following steps that: a non-linear random dynamic model of an unmanned aerial vehicle is constructed and output measurement data of each unmanned aerial vehicle are obtained based on the model as well as reference track given information and information interaction between neighboring unmanned aerial vehicles; on the basis of the data, a distributed state observer and an adaptive fault estimator are designed for each unmanned aerial vehicle and on-line estimation is carried out on state information and fault information of the unmanned aerial vehicle; a fault-tolerant controller is designed by using the real-time state and the fault estimation information, so that a system formation error, a state estimation error, and a fault estimation error are converged to a controllable error bound; and then correlated parameters of the distributed state observer, the adaptive fault estimator, and the fault-tolerant controller are determined. According to the invention, a problem of fault estimation and fault-tolerance formation control of a non-linear unmanned aerial vehicle group with existence of interference, noises and channel disturbance can be solved effectively.

Description

technical field [0001] The invention belongs to the field of dynamic system state monitoring and fault-tolerant control, and in particular relates to a fault-tolerant formation control method for a non-linear multi-unmanned aerial vehicle system considering random disturbances. Background technique [0002] With the development of single-chip microcomputer and wireless communication technology, the cooperative formation control of multi-UAV system has gradually attracted more and more research interests, and a large number of related research results have been published. The cooperation between different individuals in the formation system will greatly improve the behavioral ability and better complete the work that is difficult for a single individual; at the same time, this type of system has the advantages of high operating efficiency, good fault tolerance and strong scalability. Compared with centralized systems, formation systems are typically distributed systems with a...

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Application Information

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IPC IPC(8): G05B13/04G05D1/10
Inventor 周东华史建涛何潇卢晓
Owner SHANDONG UNIV OF SCI & TECH
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