Game-based fault-tolerant formation containment control for fixed-wing UAVs under the fully actuated system framework

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology Pub Date : 2025-02-19 DOI:10.1016/j.ast.2025.110052

Jiao Hu, Yuhang Xu, Bin Jiang

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引用次数: 0

Abstract

This paper addresses a fault-tolerant formation tracking-containment control problem for fixed-wing unmanned aerial vehicles (UAVs), where leader UAVs follow a target in a desired formation, and faulty follower UAVs converge into the convex hull spanned by leader UAVs. To solve this problem, a differential game-based approach is proposed, leading to the distributed formation control of leader UAVs and fault-tolerant containment control of follower UAVs simultaneously. Moreover, the adaptive dynamic programming (ADP) technology is incorporated to derive the solutions of the Hamilton–Jacobi–Isaacs (HJI) equations and further approximate the game strategies. It is rigorously proved that the states of UAVs and weight estimation errors of neural networks (NNs) are asymptotically stable rather than uniform ultimate bounded (UUB) under the proposed adaptive weight updating laws. Finally, a comparative simulation is conducted on a fixed-wing UAV system to verify the effectiveness of the proposed game-based method.

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本文探讨了固定翼无人飞行器（UAVs）的容错编队跟踪-遏制控制问题，在该问题中，领队无人飞行器以期望的编队跟踪目标，而故障跟随无人飞行器会聚到领队无人飞行器所跨过的凸壳中。为解决这一问题，我们提出了一种基于微分博弈的方法，可同时实现领导者无人机的分布式编队控制和跟随者无人机的容错遏制控制。此外，还采用了自适应动态编程（ADP）技术来推导汉密尔顿-雅各比-艾萨克（HJI）方程的解，并进一步逼近博弈策略。研究严格证明，在所提出的自适应权重更新法则下，无人机的状态和神经网络（NN）的权重估计误差是渐近稳定的，而不是均匀终极有界（UUB）的。最后，在固定翼无人机系统上进行了比较仿真，验证了所提出的基于博弈方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.