This paper considers the reliable control problem for multiple trailing fixed-wing unmanned aerial vehicles (UAVs) against actuator faults and wake vortices. A distributed adaptive fault-tolerant control (FTC) scheme is proposed by using a distributed sliding-mode estimator, dynamic surface control architecture, neural networks, and disturbance observers. The proposed control scheme can make all trailing fixed-wing UAVs converge to the leading UAV with pre-defined time-varying relative positions even when all trailing UAVs encounter the wake vortices generated by the leading UAV and a portion of trailing UAVs is subjected to the actuator faults. It is shown that under the proposed distributed FTC scheme, the tracking errors of all trailing UAVs with respect to their desired positions are bounded. Comparative simulation results are provided to illustrate the effectiveness of the proposed control scheme.

本文考虑了多尾随动固定翼无人飞行器（UAV）对执行器故障和尾流涡流的可靠控制问题。通过使用分布式滑模估计器，动态表面控制架构，神经网络和干扰观测器，提出了一种分布式自适应容错控制（FTC）方案。所提出的控制方案可以使所有尾随固定翼无人飞行器收敛到具有预定时变相对位置的领先无人飞行器，即使所有尾随无人飞行器都遇到由领先无人飞行器产生的尾流涡流并且一部分尾随无人飞行器也要经受执行器故障。结果表明，在提出的分布式FTC方案下，所有尾随型无人机相对于其所需位置的跟踪误差都是有界的。