Distributed topology switching collaborative control method

Abstract

The present invention provides a distributed topology switching collaborative control method, comprising the following steps: (1) reconstructing a six-degree-of-freedom fixed-wing model based on the uncertainty of the moment of inertia and aerodynamic parameters, actuator failure, and external interference; (2) designing an asynchronous switching observer for the state of the leader for each wingman; (3) designing a segmented Lyapunov function according to the communication topology configuration and seeking a topology switching rule; (4) designing distributed fault-tolerant attitude / speed controller parameters and adaptive parameters. The present invention can design a more relaxed topology switching rule through a new segmented Lyapunov function; can ensure that each wingman estimates the state information of the leader through an asynchronous switching observer; and can compensate for the influence of actuator failure and model uncertainty on the formation system through fuzzy logic functions and adaptive control technology to achieve speed / attitude fault-tolerant control.

Description

Technical Field

[0001] The invention relates to a distributed topology switching cooperative control method, belonging to the technical field of flight control. Background Art

[0002] In actual formation flying, the communication topology ensures that the aircraft can communicate with each other, share information, and achieve collaborative flight. Due to factors such as communication interference and communication distance limitations, the communication topology between aircraft often changes. At this time, switching communication topology can better describe the collaborative relationship between aircraft than fixed communication topology.

[0003] Regarding switching communication topologies, the existing patents related to control schemes (a binary synchronization method for a multi-agent system with switching topology (CN117255027A), a distributed security control method for coordinated attack of drones with random switching topology (CN117389301A), etc.) only consider the problem of instant switching of communication topologies. However, the internal information transmission of the formation system inevitably has unstable factors such as transmission delays, sensor failures, data packet loss, and network congestion, which cause time delays between the communication topology and the controller, and then cause asynchronous switching between the topology and the controller. If the topology switching law and controller designed based on the assumption of topology synchronous switching are still relied upon, it is easy to cause system instability. However, the current control scheme for asynchronous communication topologies will result in a relatively strict topology switching rule (K. Li, C.-C. Hua, and X. You, Distributed asynchronous consensus control for nonlinear multiagent systems under switching topologies, IEEE Transactions on Automatic Control, 66(9), 4327–4333, 2020; K. Li, C.-C. Hua, X. You, and CK Ahn, Leader-following asynchronous consensus for multiagent systems with unknown control and output directions,” Automatica, 132, 109832, 2021.), which has relatively stringent requirements on the flight environment of the formation.

[0004] In addition, when the actuator fails, the control performance of the system will be degraded, and in severe cases it may even directly lead to the collapse of the system. Therefore, it is necessary to improve the safety and reliability of the formation control system under actuator failure conditions. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention proposes a distributed topology switching collaborative control method.

[0006] The distributed topology switching coordinated control method of the present invention is special in that it specifically includes the following steps:

[0007] Step 1: Reconstruct the six-degree-of-freedom fixed-wing model based on the uncertainty of the moment of inertia and aerodynamic parameters, actuator failure, and external disturbance;

[0008] Step 2: Design an asynchronous switching observer for the leader state for each wingman;

[0009] Step 3: Design a piecewise Lyapunov function based on the communication topology configuration and seek topology switching rules;

[0010] Step 4: Design distributed fault-tolerant attitude / velocity controller parameters and adaptive parameters.

[0011] Preferably, the specific steps of step 1 are as follows:

[0012] Consider a formation system consisting of N fixed-wing systems. The six-degree-of-freedom model of a fixed-wing system is:

[0013] (1);

[0014] In the formula, Indicates the location of the system, is the velocity vector of the system in the body coordinate system, is the attitude angle vector, is the attitude angular velocity vector; is the thrust vector ( is the thrust control value of the engine); is the gravity vector ( is the acceleration due to gravity); Indicates the quality of the virtual host and system; Represents the transformation matrix between the body coordinate system and the ground coordinate system; It represents the aerodynamic force acting on the system in the airflow coordinate system; is the rudder control quantity; is the transformation matrix; is the moment of inertia matrix; is the control gain matrix; is a bounded external disturbance;

[0015] The attitude uncertainty system model of the fault-oriented fixed-wing system is defined as:

[0016] (2);

[0017] In the formula, represents the known control gain,

[0018] represents a known function term, is the unknown function term containing the uncertainty of the moment of inertia and aerodynamic parameters; is the failure factor, is the fault deviation disturbance signal;

[0019] Define the speed uncertainty system model of the fault-oriented fixed-wing system:

[0020] (3);

[0021] In the formula, is the velocity vector The corresponding scalar velocity satisfies , is the unknown function term, is the failure factor, is the fault deviation disturbance signal.

[0022] Preferably, the system models (2) and (3) in step 2 include three types of faults:

[0023] ① , rudder / engine partial failure;

[0024] ② , the rudder / engine has a deviation failure;

[0025] ③ , the rudder / engine is stuck;

[0026] According to equations (2) and (3), the long-engine dynamics model is constructed and defined as The attitude dynamics of the lead aircraft are:

[0027] (4);

[0028] In the formula, is a known nonlinear function. Definition , the long machine speed dynamics model is:

[0029] (5);

[0030] In the formula, .

[0031] Preferably, the specific steps of step 2 are: to ensure that each wingman can estimate the state information of the leader, a leader state asynchronous switching observer is designed, and its model is expressed as:

[0032] (6);

[0033] In the formula, is the observer state, is the estimate of the attitude angle of the lead aircraft, is the estimate of the attitude angle derivative, For the velocity vector estimates; is the design parameter, is the consistency error between adjacent systems, which is expressed as:

[0034] (7);

[0035] In the formula, Indicates the wingman in the current communication topology Can receive information, on the contrary, remember ; Indicates the wingman in the current topology Can receive the information of the long-distance phone, otherwise, remember ;

[0036] Preferably, the specific steps of step 3 are: in order to ensure that each wingman can estimate the state information of the leader, the asynchronous topology switching rule is designed as follows:

[0037] (8);

[0038] In the formula, It represents a communication topology graph set of directed spanning trees with the long-terminal machine as the root node. A communication topology graph set representing a directed spanning tree that does not have a long-terminal node as the root node; and For the time being called The supremum and infimum of the frequency of non-matching communication topology graphs (topology identification), and For When calling The supremum and infimum of the frequency of matching communication topology graphs (identification completed), is the supremum of the topological switching frequency, Indicates that from The communication topology diagram switches to The supremum of the frequency of the communication topology graph;

[0039] is the design parameter.

[0040] Preferably, the specific steps of step 4 are: defining the attitude information error between the wingman and the leader observer as:

[0041] (9);

[0042] The virtual control signal is , All eigenvalues ​​are greater than 0.5 Positive definite matrix.

[0043] The error is transformed into ;

[0044] definition ,

[0045] for An estimated value of

[0046] definition ,

[0047] for The estimated value of is the ideal weight matrix;

[0048] Design the following distributed adaptive attitude consistency controller:

[0049] (10);

[0050] In the formula, ,

[0051] is a positive design parameter,

[0052] ,

[0053] Fuzzy radial basis function vector, For eigenvalues ​​all greater than 1 positive definite matrix;

[0054] The design parameter adaptive law is:

[0055] (11);

[0056] In the formula, is a positive design parameter;

[0057] Define the speed information error between the wingman and the leader as ;definition , for Estimated value of; Definition for Estimated value of; Definition for The estimated value of is the ideal weight matrix;

[0058] The following distributed adaptive speed consistency controller is designed:

[0059] (12);

[0060] In the formula, is a nonlinear function, and its expression is:

[0061] ;

[0062] In the formula, , Fuzzy radial basis function vector, is the design parameter;

[0063] Design the following parameter adaptive law:

[0064] (13);

[0065] In the formula, is a positive design parameter.

[0066] The method of the present invention can realize stable cooperative control of the formation system under the conditions of asynchronous switching of communication topology, actuator failure, and parameter uncertainty. The asynchronous switching observer designed by the present invention ensures that each wingman can estimate the state information of the leader while satisfying the given topology switching rules. The method of the present invention includes: establishing a six-degree-of-freedom fixed-wing dynamics model; transforming the speed / attitude model containing uncertain aerodynamic parameters, external disturbances, and actuator failures; designing an asynchronous switching observer; and respectively designing the adaptive law of the speed / attitude system and the actual controller of the control system.

[0067] Compared with the prior art, the advantages of the present invention are:

[0068] (1) The problem of cooperative flight control of a formation system with model uncertainty, actuator failure, and external interference under asynchronous switching of communication topology is solved.

[0069] (2) A piecewise Lyapunov function that conforms to the inherent mechanism of asynchronous topology switching is constructed to ensure that the system uses the same controller / observer during the matching period of the previous topology mode and the mismatching period of the current topology mode. This ensures that the Lyapunov function is reduced in the mismatching interval, thereby generating a more relaxed topology switching rule.

[0070] (3) The assumptions of topology switching communication are relaxed, that is, the communication topology graph contains a directed spanning tree that does not have the long-terminal machine as the root node. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 The Lyapunov curve designed by the present invention under topological asynchronous switching is shown;

[0072] Figure 2 Show the topology switching trajectory and topology delay switching trajectory;

[0073] Figure 3 The state information trajectory of the system is shown, where (a) shows the trajectory of system speed change; (b) shows the trajectory of system roll angle change; (c) shows the trajectory of system pitch angle change; (d) shows the trajectory of yaw angle change;

[0074] Figure 4 The coordinated flight trajectory of the fixed-wing system formation is shown. DETAILED DESCRIPTION

[0075] The present invention will be described in detail below with reference to the accompanying drawings.

[0076] The present invention provides a distributed topology switching collaborative control method, which specifically includes the following steps.

[0077] Step 1: Consider a formation system consisting of N fixed-wing systems. The six-degree-of-freedom model of a fixed-wing system is:

[0078] (1);

[0079] In the formula, Indicates the location of the system, is the velocity vector of the system in the body coordinate system, is the attitude angle vector, is the attitude angular velocity vector; is the thrust vector ( is the thrust control value of the engine); is the gravity vector ( is the acceleration due to gravity); Indicates the quality of the virtual host and system; Represents the transformation matrix between the body coordinate system and the ground coordinate system; It represents the aerodynamic force acting on the system in the airflow coordinate system; is the rudder control quantity; is the transformation matrix; is the moment of inertia matrix; is the control gain matrix; is a bounded external disturbance.

[0080] Step 2: Define the attitude uncertainty system model of the fault-oriented fixed-wing system as

[0081] (2);

[0082] In the formula, represents the known control gain,

[0083] represents a known function term, is an unknown function term containing the uncertainty of the moment of inertia and aerodynamic parameters. is the failure factor, is the fault deviation disturbance signal.

[0084] Define the speed uncertainty system model of the fault-oriented fixed-wing system:

[0085] (3);

[0086] In the formula, is the velocity vector The corresponding scalar velocity satisfies , is the unknown function term, is the failure factor, is the fault deviation disturbance signal.

[0087] There are three types of faults included in fault models (2) and (3):

[0088] ① , rudder / engine partial failure;

[0089] ② , the rudder / engine has a deviation failure;

[0090] ③ , the control surface / engine is stuck.

[0091] The long-engine dynamics model is constructed according to equations (2) and (3). Definition The attitude dynamics of the lead aircraft are:

[0092] (4);

[0093] In the formula, is a known nonlinear function. Definition , the long machine speed dynamics model is:

[0094] (5);

[0095] In the formula, .

[0096] Step 3: To ensure that each wingman can estimate the state information of the leader, an asynchronous state switching observer of the leader is designed, and its model is expressed as:

[0097] (6);

[0098] In the formula, is the observer state, is the estimation of the attitude angle of the lead aircraft, is the estimate of the attitude angle derivative, For the velocity vector estimates; is the design parameter, is the consistency error between adjacent systems, which is expressed as:

[0099] (7);

[0100] In the formula, Indicates the wingman in the current communication topology Can receive information, on the contrary, remember ; Indicates the wingman in the current topology Can receive the information of the long-distance phone, otherwise, remember .

[0101] Step 4: To ensure that each wingman can estimate the status information of the leader, the asynchronous topology switching rules are designed as follows:

[0102] (8);

[0103] In the formula, It represents a communication topology graph set of directed spanning trees with the long-terminal machine as the root node. A communication topology graph set representing a directed spanning tree that does not have a long-terminal node as the root node; and For the time being called The supremum and infimum of the frequency of non-matching communication topology graphs (topology identification), and For When calling The supremum and infimum of the frequency of matching communication topology graphs (identification completed), is the supremum of the topological switching frequency, Indicates that from The communication topology diagram switches to The supremum of the frequency of the communication topology graph;

[0104] is the design parameter.

[0105] Step 5: Define the attitude information error between the wingman and the leader observer as:

[0106] (9);

[0107] The virtual control signal is , All eigenvalues ​​are greater than 0.5 Positive definite matrix. The error is transformed into .

[0108] definition ,

[0109] for An estimated value of

[0110] definition ,

[0111] for The estimated value of is the ideal weight matrix.

[0112] Design the following distributed adaptive attitude consistency controller:

[0113] (10);

[0114] In the formula, , is a positive design parameter, , Fuzzy radial basis function vector, For eigenvalues ​​all greater than 1 Positive definite matrix.

[0115] The design parameter adaptive law is:

[0116] (11);

[0117] In the formula, is a positive design parameter.

[0118] Step 6: Define the speed information error between the wingman and the leader as ;definition , for Estimated value of; Definition for Estimated value of; Definition for The estimated value of is the ideal weight matrix.

[0119] The following distributed adaptive speed consistency controller is designed:

[0120] (12);

[0121] In the formula, is a nonlinear function, and its expression is:

[0122] ;

[0123] In the formula, , Fuzzy radial basis function vector, is the design parameter.

[0124] Design the following parameter adaptive law:

[0125] (13);

[0126] In the formula, is a positive design parameter.

[0127] Figure 1 The topology switching law of the formation of the present invention is shown, including the topology switching signal trajectory and the topology delay switching signal trajectory of the observer / controller asynchronous switching caused by the identification delay. It can be seen that the topology switching law satisfies the asynchronous topology switching rule. Figure 2 The change curve of the Lyapunov function is shown. It can be seen that the Lyapunov function is continuous when the topology is switched and disconnected when the controller / observer is switched, which is consistent with the inherent mechanism of asynchronous switching. Figure 3 The state information trajectory of the system is shown, where (a) shows the trajectory of system speed change; (b) shows the trajectory of system roll angle change; (c) shows the trajectory of system pitch angle change; (d) shows the trajectory of yaw angle change; Figure 4 The coordinated flight trajectory of the fixed-wing system formation is shown. The simulation shows that despite the impact of topology asynchronous switching, the wingman can still track the speed and attitude of the leader, thus ensuring that the entire formation maintains the original formation flight.

[0128] The above calculation examples of the present invention are only used to explain the calculation model and calculation process of the present invention in detail, and are not intended to limit the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. Distributed topology switching collaborative control method, characterized in that The specific steps include: Step 1: Reconstruct the six-degree-of-freedom fixed-wing model based on the uncertainty of the moment of inertia and aerodynamic parameters, actuator failure, and external disturbance; Step 2: Design an asynchronous switching observer for the leader state for each wingman; Step 3: Design a piecewise Lyapunov function based on the communication topology configuration and seek topology switching rules; Step 4: Design distributed fault-tolerant attitude / speed controller parameters and adaptive parameters; The specific steps of step 4 are: define the attitude information error between the wingman and the leader as The virtual control signal is is a 3×3 positive definite matrix with all eigenvalues ​​greater than 0.5; the error transformation is definition for Estimated value of; Definition for The estimated value of is the ideal weight matrix; Design the following distributed adaptive attitude consistency controller: In the formula, is a positive design parameter, Fuzzy radial basis function vector, is a 3×3 positive definite matrix whose eigenvalues ​​are all greater than 1; The design parameter adaptive law is In the formula, k i1 , k i2 , γ i1 , γ i2 is a positive design parameter; Define the speed information error between the wingman and the leader as definition for Estimated value of; Definition for Estimated value of; Definition for The estimated value of is the ideal weight matrix; The following distributed adaptive speed consistency controller is designed: In the formula, is a nonlinear function, and its expression is In the formula, Fuzzy radial basis function vector, is the design parameter; Design the following parameter adaptive law: In the formula, γ i3 , γ i4 , γ i5 , k i3 , k i4 , k i5 is a positive design parameter; The specific steps of step 3 are: In order to ensure that each wingman can estimate the state information of the leader, the asynchronous topology switching rule is designed as follows: In the formula, Ω s Represents the communication topology graph set of the directed spanning tree with the long-terminal machine as the root node, Ω U A communication topology graph set representing a directed spanning tree that does not have a long-terminal node as the root node; and are the supremum and infimum of the frequency of calling the i-th non-matching communication topology graph at that time, and are the supremum and infimum of the frequency of calling the i-th matching communication topology graph when t→∞, is the supremum of the topological switching frequency, Represents the supremum of the frequency of switching from the mth communication topology graph to the nth communication topology graph; is the design parameter.

2. The distributed topology switching collaborative control method according to claim 1 is characterized in that The specific steps of step 1 are as follows: Considering a formation system consisting of N fixed-wing systems, the six-degree-of-freedom model of the j-th fixed-wing system is: In the formula, p j =[x j ,y j , z j ] T represents the position of the system, v j =[u j , w j , v j ] T is the velocity vector of the system in the body coordinate system, is the attitude angle vector, ω j =[p j ,q j , r j ] T is the attitude angular velocity vector; F Tj =[F Txj , 0, 0] T is the thrust vector, F Txj is the thrust control value of the engine; g = [0, 0, g] T is the gravity vector, g is the gravitational acceleration; m j Indicates the quality of the virtual host and system; Represents the transformation matrix between the body coordinate system and the ground coordinate system; F aj represents the aerodynamic force on the system in the airflow coordinate system; δ j =[δ ej , δ aj , δ rj ] T is the rudder control quantity; is the transformation matrix; J j is the moment of inertia matrix; C j is the control gain matrix; d vi , d ωi is a bounded external disturbance; The attitude uncertainty system model of the fault-oriented fixed-wing system is defined as: In the formula, B i1 =(J i0 R2) -1 C i0 represents the known control gain, represents a known function term, B i3 is the unknown function term containing the uncertainty of the moment of inertia and aerodynamic parameters; is the failure factor, δ if is the fault deviation disturbance signal; Define the speed uncertainty system model of the fault-oriented fixed-wing system: Where V i is the velocity vector v i The corresponding scalar velocity satisfies is the unknown function term, is the failure factor, F Txif is the fault deviation disturbance signal.

3. The distributed topology switching collaborative control method according to claim 2 is characterized in that The system models (2) and (3) contain three types of faults: ① δ mif =F Txif =0, the control surface / engine part fails; ② δ mif =F Txif ≠0, the rudder / engine has a deviation failure; ③ δ mif =F Txif ≠0, the rudder / engine is stuck; According to equations (2) and (3), the long-engine dynamics model is constructed and defined as The attitude dynamics of the lead aircraft is In the formula, For a known nonlinear function, define X 03 =v0, the long machine speed dynamics model is In the formula, 4. The distributed topology switching collaborative control method according to claim 1 is characterized in that The specific steps of step 2 are: to ensure that each wingman can estimate the state information of the leader, an asynchronous switching observer of the leader state is designed, and its model is expressed as: In the formula, is the observer state, is the estimation of the attitude angle of the lead aircraft, is the estimate of the attitude angle derivative, is the estimation of velocity vector v0; ρ is the design parameter, is the consistency error between adjacent systems, which is expressed as: In the formula, [a ij ] σ(t) =1 means that under the current communication topology, wingman i can receive information from j. Otherwise, [a ij ] σ(t) =0; [a i0 ] σ(t) =1 means that the wingman i can receive the information of the leader in the current topology. Otherwise, [a i0 ] σ(t) =0.

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