Due to the information exchange between fixed-wing UAV clusters, the fault and disturbance information generated when the actuator, including the engine, is transmitted from the faulty UAVs to the healthy UAVs. Given this situation, this paper proposes a cluster fault-tolerant control strategy based on hierarchical architecture. Firstly, this paper analyzes the influence of vibration caused by engine failure on fixed-wing UAVs and illustrates the necessity of considering this factor with simulation experiments. Secondly, this paper designs a hierarchical architecture, which divides the distributed control of the fixed-wing cluster system into consistency control of the upper layer and fault-tolerant tracking control of the lower layer, so that the fault information will only exist in the faulty UAVs, ensuring that the healthy UAVs will not be affected, thus avoiding the occurrence of fault propagation and improving the overall fault tolerance of the cluster. Finally, by analyzing the stability of the Lyapunov function, it is shown that this method can still follow the leader in systems with the followers' failures, and the effectiveness of this method is verified by comparing simulation results.
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