386 results about "Actuator fault" patented technology

The present application relates to the technical field of electric vehicles, and discloses a fault-tolerant actuator control method and apparatus for an electric vehicle, a storage medium, and a vehicle. The method comprises: acquiring vehicle-mounted sensor information and a reference trajectory of a distributed drive electric vehicle; using an MPC algorithm to perform trajectory tracking on the basis of the vehicle-mounted sensor information and the reference trajectory to obtain an expected front wheel steering angle; when at least one steering actuator is determined to be faulty on the basis of the vehicle-mounted sensor information, calculating a differential power moment on the basis of the expected front wheel steering angle and an actual front wheel steering angle corresponding to a previous moment by using a sliding mode control (SMC) algorithm; when at least one driving actuator is determined to be faulty on the basis of the vehicle-mounted sensor information, calculating a torque corresponding to the current moment on the basis of the differential power moment by using a distribution optimization algorithm based on minimum tire adhesion utilization; and controlling steering of the distributed drive electric vehicle on the basis of the torque corresponding to the current moment. The present application implements reliable control of the vehicle in a case where a steering actuator and a driving actuator fail at the same time.

The invention relates to a multi-sensor fusion intelligent actuator fault self-diagnosis method and system, and belongs to the technical field of actuator fault diagnosis. The method comprises the following steps: realizing multi-sensor clock synchronization through a unified clock source, generating a synchronous time sequence for asynchronous data such as Hall, pressure and temperature by adopting an interpolation method, and intensively acquiring signals such as rotating speed, torque and vibration; based on a current sensor and temperature data, primary fault identification is carried out through a current overload protection model, and an adaptive processing mechanism is triggered; demodulating the noise-reduced vibration signal, extracting high-frequency energy and detecting the deviation degree between the fault frequency of the bearing and a base line; bearing energy consumption abnormity is detected, and a fusion weight is dynamically set by combining the deviation degree, the energy consumption coefficient and an overload result; and carrying out weighted fusion on the multi-modal features, inputting an intelligent diagnosis model to carry out fault mode identification, and finally outputting a fault type / position and triggering a processing strategy. Accurate and rapid self-diagnosis of the actuator fault is realized.

The invention discloses a multi-agent spatio-temporal dynamic system intrusion tolerance and fault tolerance cooperative security consistency control method. The method comprises the following steps: constructing mathematical models of a leader and a follower of a multi-agent spatio-temporal dynamic system based on a partial differential equation; constructing a mathematical model of actuator faults and spoofing attacks; defining a consistency condition to obtain an error system; constructing a proper Lyapunov functional, and obtaining a system stability criterion by using a Lyapunov stability theory; and the error of the multi-agent space-time dynamic system tends to zero by using the state feedback controller, so that the system realizes safety consistency control. The invention comprehensively considers that a multi-agent space-time dynamic system is easy to have actuator faults in a complex environment and is easy to suffer from network attacks in network communication, introduces an intrusion tolerance and fault tolerance cooperative security consistency control method, improves the robustness of the system, and improves the reliability of the system. And the multi-agent space-time dynamic system can achieve a safety consistency control target.

The invention discloses a fixed-wing unmanned aerial vehicle predetermined time cooperative path following formation control method, and relates to an unmanned aerial vehicle technology. A multi-unmanned aerial vehicle cooperative path following control strategy based on preset time stability, neural network adaptive control and preset performance control is provided; according to the method, the multiple fixed-wing unmanned aerial vehicles can realize preset time convergence of path following errors and preset time preset performance convergence of control signal tracking errors under the conditions of external disturbance and actuator faults, so that a high-precision and quick-response cooperative path following formation control task is completed; and meanwhile, the control precision and robustness are improved.

The invention discloses a multi-mode sensing electromechanical actuator fault prediction system and a control method thereof, and relates to the field of intelligent maintenance of electromechanical integrated equipment. Comprising the following steps: S1, multi-mode sensor deployment and signal acquisition: cooperatively deploying a vibration sensor, a current sensor and a temperature sensor at a bearing, a motor winding and a driver of an electromechanical actuator; and S2, bionic pulse coding and time synchronization: converting the three-mode signal into a sparse pulse stream with time synchronization through a self-adaptive integral distribution model with dynamic threshold adjustment. Through bionic multi-mode sensing, brain-like edge calculation and dynamic fault-tolerant control, real-time health management of the high-precision electromechanical system is realized, the equipment reliability is remarkably improved, and the operation and maintenance cost is reduced. The method is suitable for industrial application with precise assembly requirements such as automobile welding lines, aerospace machining and metal 3D printing.

The invention discloses an intelligent automobile cooperative cruise safety control method under Dos attacks and physical faults, and relates to automobile intelligent safety and automatic driving. A hierarchical control framework is adopted and comprises an observer layer and a tracking layer. The method comprises the following steps: establishing a vehicle longitudinal dynamics model and a DoS attack model for DoS attack in a V2X communication network and the problems of sensor and actuator faults and parameter isomerism of a vehicle; a completely distributed self-adaptive preset time observer based on event triggering is designed for each following vehicle in the observer layer, and rapid and accurate estimation of the state of the pilot vehicle is achieved; the method comprises the following steps: constructing an augmentation system at a tracking layer, designing a distributed intermediate observer, carrying out online estimation and compensation on faults of a sensor and an actuator, designing a distributed active fault-tolerant controller based on a fault estimation value and a pilot vehicle state estimation value, and calculating a wheel driving torque to realize safe cruise control. Multiple threats of coexistence of network attacks and physical faults are effectively handled, and the stability and safety of the cooperative cruise system are ensured.

The invention discloses a finite-time active-disturbance-rejection control method for a multi-unmanned-aerial-vehicle hanging transportation system. According to the finite-time active-disturbance-rejection control method, a finite-time super-spiral sliding-mode observer is used for carrying out observation compensation on load errors and lumped disturbance of the load errors, a finite-time sliding-mode controller is constructed, total tension for controlling load movement is determined, and an optimal tension distribution scheme is solved. External disturbance is introduced, a load is taken as a virtual leader, a leader following cluster model is constructed, a finite time reduced-order proportional differential observer and a finite time controller are designed, formation finite time control is carried out, and an expected trajectory of each unmanned aerial vehicle is determined; an actuator fault model and a virtual control quantity are introduced, an unmanned aerial vehicle dynamics model is constructed, and a lumped disturbance reconstruction state error system is introduced; and designing a finite-time reduced-order generalized parameter estimation observer and a finite-time nonsingular terminal integral sliding mode fault-tolerant controller, carrying out unmanned aerial vehicle position loop control and attitude loop control, and realizing finite-time active-disturbance-rejection control of the multi-unmanned aerial vehicle hanging transportation system.

The invention relates to the technical field of vehicle stability control and fault-tolerant control, and discloses a steer-by-wire vehicle stability control method under actuator faults and input hysteresis, a terminal and a medium. The method comprises the following steps: establishing a kinetic model of a steer-by-wire vehicle, and constructing a front wheel subsystem kinetic model in a steer-by-wire system by comprehensively considering an actuator fault, input hysteresis and a state constraint condition; according to the steering angle instruction of the driver and the ideal vehicle model, the expected yaw velocity and the expected sideslip angle of the vehicle are obtained through calculation; designing an upper-layer stability controller of the front wheel subsystem; generating a desired front wheel steering angle for the front wheel subsystem; and a lower-layer steering angle tracking controller of the front wheel steering system is designed, the front wheel steering angle tracking performance of the steer-by-wire system under the working conditions of actuator faults and input hysteresis is ensured, and the actual front wheel steering angle of the vehicle approaches the expected front wheel steering angle. According to the invention, the steer-by-wire system can still maintain the stability of the vehicle under the conditions of actuator fault and input hysteresis.

The invention belongs to the technical field of unmanned aerial vehicle trajectory tracking control, and particularly discloses an unmanned aerial vehicle preset performance control method and system considering time-varying position constraints. According to the method, under the condition that the unmanned aerial vehicle has time-varying position constraint, model uncertainty, actuator fault and wind disturbance, a nonlinear mapping method is firstly adopted to convert a system with position constraint into an unconstrained system, then a preset performance control method and a self-adaptive backstepping technology are adopted to carry out controller design on the converted system, and therefore the control precision of the unmanned aerial vehicle is improved. The system error is kept in a preset boundary function range; the invention also designs a fuzzy logic system (FLS) and a nonlinear disturbance observer to estimate the uncertainty and wind disturbance of the model, thereby providing a trajectory tracking control scheme combining model mapping and preset performance. Under the control of the method, the quad-rotor unmanned aerial vehicle has good robustness, and even if an actuator breaks down, the tracking error can still be kept within a preset interval.

The invention discloses an abnormity monitoring system based on breathing machine operation parameters. The abnormity monitoring system comprises a data acquisition module, a breathing machine operation monitoring module and an abnormity monitoring module. The invention belongs to the field of data processing, and particularly relates to an anomaly monitoring system based on breathing machine operating parameters, according to the scheme, static delay optimization is constructed by introducing an environment compensation item, dynamic delay compensation is carried out by utilizing fuzzy logic prediction, and the response speed is increased during sudden breathing fluctuation; real-time data compression and expansion are carried out based on the system load weight; the accuracy of abnormity monitoring is improved; abnormal ranges of different operation parameters are dynamically adjusted based on environment compensation factors, input quantization errors and actuator faults are gradually compensated in combination with a dynamic environment compensation design control law, the fault-tolerant capability of external interference is improved, input quantization is jointly processed based on dynamic compensation actuator gain changes, random interference and quantization errors, and the fault tolerance of the actuator is improved. Accurate response to sudden breathing fluctuation is ensured; and the abnormity monitoring effect is improved.

The invention discloses a security boundary consistency control method for a multi-agent spatio-temporal dynamic system. The method specifically comprises the following technical steps: firstly, constructing a leader-follower spatio-temporal dynamic mathematical model of the multi-agent system based on a partial differential equation; then establishing an abnormal working condition mathematical model containing an actuator fault and a network spoofing attack; deducing to obtain an error dynamic system equation by defining a system consistency control target; constructing an energy function by using a Lyapunov stability theory, and deducing to obtain a system stability criterion; finally, a security boundary consistency control method is designed, and multi-agent space-time dynamic consistency control is achieved. The method effectively solves the problem of high cost caused by arrangement of actuators in a whole spatial domain in a traditional scheme and the problem that a multi-agent system is easily interfered by network attacks in a communication process, and has remarkable application value in engineering practice.

The invention provides a fault-tolerant control method for preset performance of a morphing aircraft based on sliding-mode control. The fault-tolerant control method comprises the following steps: establishing a longitudinal nonlinear dynamic model of the morphing aircraft; based on the longitudinal nonlinear dynamic model of the morphing aircraft, establishing a longitudinal nonlinear dynamic model of the morphing aircraft under the fault condition of the execution mechanism; the method comprises the following steps: extracting a speed subsystem and an attitude subsystem aiming at a longitudinal nonlinear dynamic model of a morphing aircraft under an execution mechanism fault condition; carrying out sliding-mode control-based preset performance fault-tolerant controller design on the attitude subsystem; aiming at a speed subsystem, combining an attitude subsystem controller, and carrying out sliding mode control-based preset performance fault-tolerant controller design; the two designed controllers are utilized to realize the fault-tolerant control of the variant aircraft under the condition of executing mechanism fault. The sliding mode control and the preset performance control are combined, so that the conservative property is improved by quick response, the fault-tolerant capability is enhanced by switching the control law, and the stability is improved.

The invention discloses a cluster adaptive path planning method based on geometric PDE and PINN. The method comprises the following steps: firstly, modeling a dynamic model of a fault cluster with time-varying topology; secondly, through Riemannian manifold and gradient evolution based on heat flow, a fault cluster is constructed based on a parabolic PDE system, and a reference trajectory of a cluster system in an obstacle environment is obtained; and learning a steady-state solution of the cluster based on a parabolic PDE system by using a physical information neural network (PINN), and obtaining a fault-tolerant optimal control law of the cluster system based on geometric PDE and PINN under the conditions of time-varying topology, actuator fault and obstacle operation. According to the method, it is ensured that the intelligent agent navigates to the target position from the initial position along the dynamic reference trajectory, meanwhile, endogenous compensation of the fault effect is achieved, and unified solution of fault compensation and motion planning is achieved.

A system, computer readable storage medium and method for controlling a trajectory of coordinated time-varying maneuvers of a geometric formation of unmanned vehicles is disclosed. The system includes unmanned vehicles, each configured with communication circuitry to communicate between the vehicles. A subset of the unmanned vehicles function as leader vehicles, with the remaining vehicles functioning as follower vehicles for leader-follower maneuvering. The system further includes an actuator suite configured to adjust the direction and orientation of each vehicle, a sensor suite for stabilization and navigation, and a flight controller for maintaining stable maneuvering, even in the presence of actuator faults and sensor deception attacks. Processing circuitry is configured with a reinforcement learning neural network that includes identifier, actor, and critic radial basis function neural networks to estimate movement, adjust control actions, and assess vehicle performance based on feedback signals, including corrupted signals from the sensor suite due to deception attacks.

The invention relates to the technical field of vehicle control, in particular to a vehicle trajectory tracking and driving stability fault-tolerant control method and device, and can solve the challenges that lumped disturbance prior upper bound unknown, communication network congestion and actuator faults are difficult to cope with at the same time in the prior art to a certain extent. And the buffeting problem caused by the traditional sliding mode switching gain and the singularity problem in the solving process are solved. The method comprises the following steps: establishing a vehicle dynamics model, a control error model and a related model; designing an adaptive robust terminal sliding mode trajectory tracking controller and a stability controller; event triggering conditions are designed, and the influence of communication network congestion is reduced; and a torque optimization distribution strategy with an actuator fault factor is designed, so that the fault-tolerant capability of the system is improved. The problems of system parameter uncertainty, external disturbance, communication resource limitation, buffeting, singularity, actuator faults and the like can be effectively solved, and therefore accurate control over the intelligent vehicle is achieved under the complex driving working condition.

The invention discloses a distributed anti-interference fault-tolerant control method and a distributed anti-interference fault-tolerant control system for a multi-six-rotor unmanned aerial vehicle attitude system. The control method comprises the following steps: constructing a multi-six-rotor unmanned aerial vehicle attitude model based on a multi-six-rotor unmanned aerial vehicle attitude system model and interference uncertainty; designing a disturbance observer which is used for estimating the degree of external disturbance and actuator faults; and based on the output of the multi-six-rotor unmanned aerial vehicle attitude model and the degree of external interference and actuator fault, constructing a Lyapunov function by using a backstepping recursion technology, and designing a distributed anti-interference fault-tolerant controller for generating a control output signal to the multi-six-rotor unmanned aerial vehicle attitude model. According to the method, the Lyapunov function is constructed, so that output signals of all followers and leaders are synchronous, and errors are converged. Meanwhile, the general approximation characteristic of the neural network is utilized, the nonlinear term and the unmodeled dynamic are approximated online, and the model complexity is reduced.

The invention relates to a passive fault-tolerant control method and system for a tilt-rotor unmanned aerial vehicle based on a nonlinear variable parameter model. The method comprises the following steps: S1, establishing an actuator fault model; s2, constructing a longitudinal dynamic model of the tilt-rotor aircraft, and converting the longitudinal dynamic model of the tilt-rotor aircraft into a nonlinear variable parameter model of the tilt-rotor aircraft; s3, introducing an actuator fault model into the nonlinear variable parameter model to obtain a nonlinear variable parameter model containing an actuator fault; s4, designing a fault-tolerant controller by adopting a quadratic sum convex programming method; s5, based on the Lyapunov stability theory, establishing a fault-tolerant controller solvability condition of the nonlinear variable parameter system model containing the actuator fault, enabling the nonlinear variable parameter model to have exponential stability, and solving the solvability condition to obtain the fault-tolerant controller; and S6, applying the fault-tolerant controller to a flight control system of the tilt-rotor aircraft.

The invention discloses a quadruped robot anti-disturbance motion control method based on reinforcement learning and application, and belongs to the field of robot motion control. Firstly, a self-adaptive propulsion control frame is provided, and a propeller and a leg movement system of the quadruped robot are deeply fused. And secondly, through cooperative training of a double-encoder system (a teacher encoder and a student encoder) and a predictor, hidden state extraction and environment disturbance reconstruction are realized, so that the robot adjusts a motion strategy in real time under complex scenes such as actuator faults and water flow interference. And finally, in combination with multi-stage reinforcement learning training and privilege information utilization, strategy network output is optimized, and a speed and trajectory tracking task is completed. The motion robustness of the robot under unknown interference and damage conditions is remarkably improved through cooperative control of the propellers and the legs, anti-disturbance decision of hidden state driving and dynamic reward function design. The method is suitable for amphibious environments, can adapt to diversified disturbance scenes without additional fine adjustment, and has high practicability and reliability.

The invention relates to the technical field of mechanical equipment fault diagnosis, and particularly discloses an attention mechanism CNN-based electric actuator fault feature extraction method and system. The method comprises the following steps: through a mode of combining simulation modeling and field acquisition, obtaining a fault feature of an electric actuator; obtaining multi-source data of the electric actuator in a normal state, a known fault state and an unknown fault state, and preprocessing and enhancing the multi-source data; and constructing a lightweight convolutional neural network model containing a cross-modal attention mechanism. According to the method, multi-source signals such as current, voltage and displacement can be effectively fused, weights of different modes and characteristics are automatically distributed, and the extraction capability of key fault characteristics is enhanced; accurate distinguishing between known faults and unknown faults is realized through multi-scale feature complexity measurement and a dynamic discrimination mechanism; in combination with domain self-adaption and an incremental learning mechanism, the model can migrate between simulation and real working conditions, and has self-expansion capability for a novel fault mode.

The invention discloses a modular mechanical arm actuator additive fault optimal fault-tolerant control method and device of a zero sum differential game, and relates to the field of robot control algorithms, and the method comprises the steps: representing a nonlinear damping characteristic through a joint friction torque, describing the dynamic interaction of multiple joints through a cross-linking coupling item, and determining the optimal fault-tolerant control of the additive fault of the modular mechanical arm actuator; a dynamical model containing faults is constructed. And uncertain items in the model are updated online by adopting a radial basis function neural network identifier, so that the model precision is improved. A performance index function is constructed based on position errors, actuator faults and controller input are regarded as two opposite parties of a zero and differential game, the performance index function is approximated through a single evaluation neural network, a Hamiltonian-Jacobi-Axaxi equation is approximately solved, and an optimal fault-tolerant control strategy is obtained. According to the method, the game theory is combined with the neural network, the dynamic unknown fault problem of the modular mechanical arm is effectively solved while the system energy consumption integration is reduced, and real-time optimal control over the modular mechanical arm is achieved.

The invention belongs to the technical field of artificial intelligence, and discloses an actuator fault performance compensation method for a wind power plant grid-connected interconnection system, and the method comprises the steps: building a dynamic model of a nonlinear interconnection system containing a wind power plant; then, in combination with an actuator fault, constructing a state-space equation of a nonlinear system introducing a neural network; a composite observer with a dynamic event triggering mechanism is constructed, and estimation of the system state, external interference and actuator faults is achieved; according to the output of the composite observer, constructing a sliding mode safety compensation controller for realizing disturbance and fault compensation, and further obtaining an equivalent controller and a switching controller; and constructing a system master controller according to the equivalent controller and the switching controller. According to the invention, comprehensive estimation of the system state, external disturbance and actuator faults can be realized, active compensation of disturbance and faults can also be realized, and the system control stability is improved.

The invention discloses a ship-based unmanned aerial vehicle fault carrier landing method based on L1 adaptive dynamic inverse control, and belongs to the technical field of ship-based aviation, and the method comprises the steps: obtaining the deviation between the position of a ship-based unmanned aerial vehicle and an ideal carrier landing track; constructing a ship-based unmanned aerial vehicle fault model considering fault conditions, wherein the fault conditions comprise a structural fault represented by center-of-gravity shift and an actuator fault represented by partial efficiency loss of the actuator; designing a carrier-borne unmanned aerial vehicle landing guidance law, wherein the carrier-borne unmanned aerial vehicle landing guidance law is used for generating an angle control instruction capable of correcting the deviation between the position of the carrier-borne unmanned aerial vehicle and the ideal carrier landing trajectory; and the ship-based unmanned aerial vehicle executes an angle control instruction under the cooperation of an outer ring angle control law, an inner ring angular velocity control law designed based on an L1 adaptive dynamic inverse method, and an attack angle stability control law. According to the invention, the carrier-based unmanned aerial vehicle can still keep the carrier landing precision under the conditions of external interference and internal faults, and safe carrier landing is ensured.

The invention relates to a composite adaptive preset time attitude fault-tolerant control method for a rigid aircraft, which comprises the following steps of: constructing a rigid aircraft kinematics and dynamics model based on corrected Rodrigues parameters, and considering an actuator fault problem in the model; a virtual controller in a hyperbolic tangent form is constructed, so that the problem of singularity of the controller caused by derivation of the virtual controller is avoided; a fuzzy logic system is adopted to approach a nonlinear uncertain item of the system, and an adaptive law is designed to estimate the upper bound of composite interference of the system; on the basis, a composite self-adaptive preset time attitude fault-tolerant controller is designed. According to the method, under the conditions of uncertainty of rotational inertia, external interference and actuator faults, the rigid aircraft attitude is converged to the neighborhood near the original point within the preset time, and the upper bound of the minimum convergence time can be predetermined by adjusting a simple parameter.

The invention discloses a finite time preset performance fault-tolerant control method for a two-degree-of-freedom rigid mechanical arm. The method mainly solves the problems that according to a conventional trajectory tracking control scheme, unknown disturbance in the external environment of a system cannot be estimated, disturbance cannot be reduced, and the stability of the system is affected. The method comprises the steps of constructing dynamical models of partial failure and complete failure of an actuator, designing a finite time preset performance function constraint tracking error, constructing a virtual controller and an actual controller based on a backstepping method, introducing an adaptive disturbance observer to compensate unknown external disturbance, and proving system stability through a Lyapunov function. According to the method, high-precision trajectory tracking of the mechanical arm under the actuator fault condition can be achieved, it is ensured that tracking errors converge to a steady-state area within the set time, and meanwhile dependence on external disturbance and system parameter priori knowledge is reduced.

The invention provides a preset performance fault-tolerant control method under motor failure of a tendon-driven mechanical arm. The preset performance fault-tolerant control method comprises the following steps: constructing a tendon-driven mechanical arm system model with actuator fault, external interference and system parameter uncertainty; designing a tendon-driven mechanical arm trajectory tracking error model and a fixed time sliding mode observer; an improved preset performance function is constructed, so that the trajectory tracking position error of each joint of the mechanical arm meets a preset performance boundary; and a fixed-time preset performance fault-tolerant controller is designed, so that trajectory tracking errors of all joints of the mechanical arm are converged to a preset performance boundary within fixed time. According to the method, non-singular terminal sliding mode control is combined with the preset performance function, so that the performance boundary constraint of the tracking error is realized while the stability of the fixed time of the system is ensured; by dynamically adjusting the boundary of the performance function, the problem of control precision degradation under the actuator fault working condition is effectively solved, and the robustness and trajectory tracking precision of the system are remarkably improved.

The invention relates to an automobile finite time path tracking fault-tolerant control method considering steering actuator faults. The method comprises the following steps: firstly, establishing a vehicle dynamics model and a steering execution mechanism dynamics model, designing a path tracking control strategy by applying a model prediction control method, and establishing an upper-layer path tracking controller; then, on the basis of a differential driving auxiliary steering principle, a preset performance control method of finite time convergence and a nonsingular fast terminal sliding mode control theory are combined, and a steering actuator fault-tolerant controller is established; and finally, designing a torque distribution controller by adopting an optimal control theory, and solving an optimal four-wheel driving torque control quantity through quadratic programming. According to the method, the influence caused by the failure of the steering actuator can be effectively compensated, the safety and the stability of the vehicle are remarkably improved, and a feasible solution is provided for the fault-tolerant control of the steering actuator in a future intelligent vehicle path tracking scene.

The invention discloses a quadrotor unmanned aerial vehicle attitude fault-tolerant control method. The method comprises the following steps: S1, establishing a tracking error dynamic model of a quadrotor unmanned aerial vehicle attitude system; s2, designing a reduced-order fixed-time expansion state observer; s3, constructing an adaptive preset performance function; s4, designing a fast nonsingular terminal sliding mode surface and a fixed time reaching law based on an adaptive preset performance function and the lumped disturbance estimated value, and generating a posture virtual control quantity; and S5, according to the mapping relation between the attitude virtual control quantity and the attitude loop control moment, performing inverse solution to obtain the attitude loop control moment, and inputting the control moment into an attitude actuator to enable the attitude angle tracking error to converge to be near a balance point within a fixed time. Compared with the prior art, the four-rotor unmanned aerial vehicle attitude fault-tolerant control method has the advantages that strict constraint on attitude system response under the actuator fault condition is provided, it is ensured that unmanned aerial vehicle tracking errors meet preset transient state and steady state performance constraints, and meanwhile the vulnerability problem of preset performance is effectively avoided.

The invention provides a modeling simulation method for a digital twin model of a fixed-wing unmanned aerial vehicle, and relates to the technical field of digital twin. The method comprises the following steps: establishing a fixed-wing unmanned aerial vehicle three-dimensional model Establishing dynamics and kinematics equations of the fixed-wing unmanned aerial vehicle; deducing a linear model of the fixed-wing unmanned aerial vehicle and an actuator fault model; establishing a digital twinborn model of the fixed-wing unmanned aerial vehicle; establishing a real-time communication relation between the fixed-wing unmanned aerial vehicle digital twin model and the entity fixed-wing unmanned aerial vehicle model; and operating the digital twin model of the fixed-wing unmanned aerial vehicle for simulation, and outputting flight state data in a visual interface. The method has the characteristics of high synchronism and coordination of the equipment entity and the equipment model, and the purposes of comprehensively controlling the actual operation state of the equipment and establishing the digital twin model of the fixed-wing unmanned aerial vehicle can be achieved.

The invention discloses a distributed adaptive fault-tolerant formation tracking control method. The method comprises the following steps: constructing a longitudinal dynamic model of the intelligent agent and decomposing the longitudinal dynamic model into a speed subsystem and an attitude subsystem; constructing an actuator fault model, and reconstructing lumped uncertainty items in combination with the uncertainty of a longitudinal dynamic model and external disturbance; self-adaptive laws of a speed subsystem and an attitude subsystem are determined respectively, so that active compensation is carried out on lumped uncertainty items through an RBF neural network; and respectively determining control protocols of the speed subsystem and the attitude subsystem through a recursive backstepping method in combination with a general obstacle Lyapunov function. According to the method, under the harsh conditions that uncertainty and actuator faults exist, the key state safety boundary is continuously met, meanwhile, the high-quality time-varying formation tracking performance is kept, and the implementation complexity of a control system is effectively reduced.

The invention discloses a multi-agent system cooperative fault-tolerant tracking control method and system based on topology reconstruction, which are used for solving the problem of performance maintenance of a multi-agent system under an actuator fault. The method specifically comprises the following steps: step 1, determining description of a multi-agent system under a fault condition; 2, constructing an initial topological structure and a nominal controller of the multi-agent system under the fault-free condition; 3, designing a topology reconstruction strategy for coping with each fault scene; and step 4, integrating each topology reconstruction strategy and forming a cooperative fault-tolerant control method. According to the method, when the actuator of the multi-agent system breaks down, the performance of the multi-agent system can be ensured by adjusting the topological structure according to the fault information, so that the adverse effect of the fault on the multi-agent system is weakened, and the reliability of the multi-agent system is improved.