This article develops a distributed adaptive fault-tolerant formation control scheme for the multiple unmanned aerial vehicles to counteract actuator faults and intermittent communication interrupt, where the issues on control input saturation and mismatched uncertainties are also addressed. The discontinuous communication protocol technique is exploited to achieve the stability of the formation system, if the conditions of dwell time and the rate of communication are satisfied. On the basis of the local information of neighboring unmanned aerial vehicles, a novel distributed adaptive mechanism is designed to estimate the bounds of actuator faults and uncertainties, where the input saturation is explicitly taken into consideration. The stability of the whole formation system under the designed fault-tolerant formation control strategy is analyzed using the Lyapunov approach. Finally, simulation results are presented to illustrate the effectiveness of the proposed scheme.

本文为多种无人机开发了分布式自适应容错编队控制方案，以抵消执行器故障和间歇性通信中断，并解决了控制输入饱和和不匹配不确定性的问题。如果满足驻留时间和通信速率的条件，则可以使用不连续通信协议技术来实现编队系统的稳定性。基于相邻无人机的局部信息，设计了一种新颖的分布式自适应机制来估计执行器故障和不确定性的界限，其中明确考虑了输入饱和度。利用李雅普诺夫方法分析了在设计的容错编队控制策略下整个编队系统的稳定性。最后，仿真结果表明了该方案的有效性。