仿鸽群通信拓扑的集群飞行器预设时间容错控制

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Title:

Prescribed-time fault-tolerant swarm aircraft control using a pigeon-inspired communication topology

作者:

陈汝佳^1,2, 段海滨^1,2, 王海天^1,2

1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083;
2. 北京航空航天大学 飞行器控制一体化全国重点实验室, 北京 100083

Author(s):

CHEN Rujia^1,2, DUAN Haibin^1,2, WANG Haitian^1,2

1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China;
2. National Key Laboratory of Aircraft Integrated Flight Control, Beihang University, Beijing 100083, China

关键词:

飞行器; 集群系统; 执行器故障; 通信故障; 层级系统; 容错控制; 预设时间控制; 自适应控制

Keywords:

aircraft; multi-system; actuator faults; communication faults; hierarchical systems; fault-tolerant control; prescribed-time control; adaptive control

分类号:

TP391

DOI:

10.11992/tis.202507008

摘要:

针对强对抗环境下集群飞行器面临的执行器故障与通信节点损毁难题，本文提出一种融合预设时间(prescribed-time, PT)容错控制与仿鸽群多层通信架构的解决方案。基于三通道解耦的故障飞行器模型，结合PT收敛理论构建自适应位置容错控制律及其相应误差更新律，实现了故障约束下的先验打击轨迹预设时间跟踪。同时设计仿鸽群通信拓扑架构，以多层无向节点通信架构模拟自然界鸽群分层通信机制，并构建配套个体自主状态感知和节点轮换机制，提升了集群在应对高通信载荷下通信节点损失时的鲁棒性。数值仿真结果表明，本文所设计方法在执行器/通信双重故障工况下可保障集群作战任务完成率，具备良好可行性。相比传统集中式和分布式通信架构，所设计的通信架构表现出更高的鲁棒性和更低的通信载荷。

Abstract:

This study aims to address the challenges posed by actuator faults and communication node failures in highly contested environments by proposing a method that integrates prescribed-time(PT) fault-tolerant control with a pigeon-inspired multi-layer communication architecture. Based on an aircraft model with three-channel decoupled actuator faults, an adaptive fault-tolerant position control law and its corresponding error update law are developed using the PT convergence theory, achieving PT tracking of predefined strike trajectories under fault constraints. Meanwhile, a pigeon-inspired communication topology is designed to simulate the hierarchical communication mechanism of natural pigeon flocks through a multi-layer undirected node communication architecture. Supporting mechanisms for individual autonomous state sensing and node rotation are also established to enhance the swarm’s robustness in addressing node losses under high communication loads. Numerical simulation results show that the proposed method achieves a high completion rate for swarm combat missions under actuator faults and communication failures, demonstrating its promising feasibility. Compared with traditional centralized and distributed communication architectures, the designed communication architecture exhibits higher robustness and a lower communication load.