Multi-fighter cooperative fault diagnosis method under switching topology

Abstract

The invention discloses a multi-fighter cooperative fault diagnosis method under switching topology. The method includes the steps that firstly, a multi-fighter system connecting diagram of each topology structure is constructed and represented with a digraph to obtain the Laplacian matrix and self-cycle matrix of each topology structure; secondly, a state equation and an output equation of each node fighter are obtained, and a system model with an executor fault is set up for each node; then, a global augmented system state equation based on the digraphs is constructed for each node; finally, a multi-fighter cooperative fault diagnosis observer is set up, collected input data and output data of the all the nodes are sent into the observer to obtain the fault estimated value of each node, and therefore the executor faults of the flight control system are estimated. By means of the method, the fault of any node and the faults simultaneously appearing in multiple nodes can be diagnosed on line in the cooperative flight control system, and online fault diagnosis and real-time fault estimation of the flight control system can be carried out.

Description

technical field [0001] The invention belongs to the technical field of fault diagnosis of formation flight control systems, and in particular relates to a multi-aircraft cooperative fault diagnosis method under switching topology. Background technique [0002] Compared with single-aircraft flight control, multi-aircraft formation flight control can play the role of a single aircraft as much as possible, and realize the control, decision-making and management of multi-aircraft cooperative formation flight, thereby improving the efficiency of UAVs in completing tasks and broadening the scope of UAVs. The scope of use is to achieve the purpose of performing various tasks safely and with high reliability. At the same time, multi-aircraft formation flight control is much more complicated. In addition to having the necessary flight and attitude control systems and communication systems for a single UAV, multi-aircraft coordination issues must also be considered, such as mission c...

AI Technical Summary

Problems solved by technology

Because the multi-aircraft flight control system itself has the characteristics of information interaction and mutual cooperation, the traditional fault diagnosis method for single-aircraft system does not consider the communication topology and information interaction between multiple aircraft, and it is difficult to directly apply it to the multi-agent system. Carry out research on cooperative fault diagnosis and fault-tolerant control of multi-aircraft formation flight control system

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