Purpose

The paper takes the air-ground integrated wireless ad hoc network-integrated system as the research object, this paper aims to propose a distributed robust H_∞ adaptive fault-tolerant control algorithm suitable for the system to distribute to solve the problem of control and communication failure at the same time.

Design/methodology/approach

In the paper, the authors propose a distributed robust H_∞ adaptive fault-tolerant control algorithm suitable for the air-ground integrated wireless ad hoc network-integrated system.

Findings

The results show that the integrated system has good robustness and fault tolerance performance indicators for flight control and wireless signal transmission when confronted with external disturbances, internal actuator failures and wireless network associated failures and the flight control curve of the quadrotor unmanned aerial vehicle (UAV) is generally smooth and stable, even if it encounters external disturbances and actuator failures, its fault tolerance performance is very good. Then in the range of 400–800 m wireless communication distance, the success rate of wireless signal loop transmission is stable at 80%–100% and the performance is at least relatively improved by 158.823%.

Originality/value

This paper takes the air-ground integrated wireless ad hoc network-integrated system as the research object, based on the robust fault-tolerant control algorithm, the authors propose a distributed robust H_∞ adaptive fault-tolerant control algorithm suitable for the system and through the Riccati equation and linear matrix inequation method, the designed distributed robust H_∞ adaptive fault-tolerant controller further optimizes the fault suppression factor γ, so as to break through the limitation of only one Lyapunov matrix for different fault modes to distribute to solve the problem of control and communication failure at the same time.

中文翻译：

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非晶扁平空地无线自组织网络系统分布式鲁棒H∞自适应容错控制

目的

本文以空地一体化无线自组网集成系统为研究对象，旨在提出一种适用于系统分布式的分布式鲁棒_H∞自适应容错控制算法，解决控制与通信问题。同时失败。

设计/方法/方法

在论文中，作者提出了一种适用于空地一体化无线自组网一体化系统的分布式鲁棒H _∞自适应容错控制算法。

发现

结果表明，该集成系统在面临外部干扰、内部执行器故障和无线网络相关故障时，飞行控制和无线信号传输具有良好的鲁棒性和容错性能指标，四旋翼无人机的飞行控制曲线一般平稳，即使遇到外部干扰和执行器故障，其容错性能也非常好。那么在400-800 m无线通信距离范围内，无线信号环路传输的成功率稳定在80%-100%，性能至少相对提升了158.823%。

原创性/价值

本文以空地一体化无线ad hoc网络一体化系统为研究对象，基于鲁棒容错控制算法，提出了一种适用于该系统的分布式鲁棒H _∞自适应容错控制算法，并通过采用Riccati方程和线性矩阵不等式方法，设计的分布式鲁棒_H∞自适应容错控制器进一步优化了故障抑制因子γ，从而突破了不同故障模式只能分布一个Lyapunov矩阵的限制来解决问题同时出现控制和通讯故障。