Fault Tolerant Control Scheme Design for Formation Flight Control System of Multiple Unmanned Aerial Vehicles

摘要

The command tracking problem of formation flight control system (FFCS) for multiple unmanned aerial vehicles (UAVs) with sensor faults is discussed.And the objective of the addressed control problem is to design a robust fault tolerant tracking controller such that,for the disturbances and sensor faults,the closed-loop system is asymptotically stable with a given disturbance attenuation level.A robust fault tolerant tracking control scheme,combining an observer with H∞ performance,is proposed.Furthermore,it is proved that the designed controller can guarantee asymptotic stability of FFCS despite sensor faults.Finally,a simulation of two UAV formations is employed to demonstrate the effectiveness of the proposed approach.