Quad-rotor UAV (unmanned aerial vehicle) formation fault tolerance method based on multi-UAV distributed control

Abstract

The invention discloses a quad-rotor UAV (unmanned aerial vehicle) formation fault tolerance method based on multi-UAV distributed control. The method comprises the steps as follows: constructing a failure power model of multiple quad-rotor UAVs; then, constructing a first sliding mode distributed formation controller and a second sliding mode formation controller on the basis of the normal formation process of the quad-rotor UAVs, and controlling positions and postures of the quad-rotor UAVs under the normal formation condition so that the quad-rotor UAVs can realize formation flying according to set tracks; finally, constructing a state observer, judging whether a failure occurs according to residuals between observed results and actual results in the formation process by the state observer, if yes, designing a self-adaptive distributed sliding mode formation controller to control each quad-rotor UAV to form according to the set tracks; otherwise, continuously performing controllingby the first sliding mode distributed formation controller and the second sliding mode formation controller. The formation of the quad-rotor UAVs can be controlled stably.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to formation fault-tolerant control of multiple quadrotor unmanned aerial vehicles, specifically a quadrotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control. Background technique [0002] The formation flight of UAVs has high requirements on the reliability and safety of UAVs. The failures of UAVs are generally divided into actuator failures and sensor failures. Fault-tolerant control can be used to solve these problems, and the methods of fault-tolerant control are divided into active fault-tolerant and passive fault-tolerant. The fault-tolerant method of passive control is robust and insensitive to faults, and the fault-tolerant method of active fault-tolerance can actively carry out fault-tolerance, and achieve the purpose of fault-tolerance by readjusting the controller paramet...

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Problems solved by technology

[0006] Aiming at the problem in the above-mentioned prior art that the quadrotor UAV cannot simultaneously control the position and speed of the UAV when it fails, a fault-tolerant quadrotor UAV formation based on multi-UAV distributed control is provided method, this method first designs the position and attitude control law for the quadrotor UAV system under normal conditions, and then performs fault detection through the state observer to judge whether there is a fault during the formation process of the quadrotor UAV. The adaptive sliding mode distributed control method is used in the quadrotor formation, and the fault is estimated through self-adaptation to realize the fault-tolerant control of the formation; the model of the quadrotor is underactuated, the formation control of the quadrotor and the formation of multi-agent Compared with the control, it is necessary to consider the attitude of UAVs, and design the adaptive sliding mode distributed formation control law of multi-UAVs, so as to realize the adaptive sliding mode distributed formation of quadrotor UAVs; considering the type of quadrotor failure is a partial failure of the actuator, and an adaptive sliding mode formation controller is designed to achieve fault tolerance

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