Adaptive fault-tolerant control of multi-quadcopter UAV formation
Aiming at the problem that the quadrotor UAV is affected by the actuator failure during forma-tion control and the resultant tracking errors between UAVs,the fixed parameters controlled by the tradi-tional PID cannot be applied to the complex environmental challenges faced by the quadrotor UAV.Conse-quently,a Fuzzy adaptive PID fault-tolerant controller and a sliding mode cooperative controller for multi-ple UAVs are devised.Firstly,the system model of UAV with Actuator Failure is established,with a ref-erence trajectory set for the leading UAV.Through the designed fuzzy adaptive PID controller,the UAV experiencing actuator failures is guided to track the specified trajectory.Secondly,based on the sliding mode control theory,a formation cooperative controller,the controller is designed to make the distance er-ror between the follower UAV and the leader UAV close to zero,achieving the desired formation.Finally,the comparison results of simulation experiments show that the proposed method exhibits minimal over-shoot and strong robustness,thereby yielding a favorable control effect on the quadrotor UAV.
quadrotor UAVactuator failurefuzzy adaptive PID controlformation cooperative controlsliding mode control
万方数据
维普
