故障条件下基于同步DMPC的多无人机分组编队控制

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中图分类号：V249 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.07.28

Abstract：Aiming at the grouping formation control （GFC） problem of multi-unmanned aerial vehicle （UAV）under fault conditions，a GFC algorithm based on synchronous distributed model predictive control （DMPC）is proposed.Firstly，a grouping and layering control framework considering virtual leaders is established. Secondly，the irreparable fault in theformation is modeled，and an interactivehealth discrimination mechanism and“fault isolation” strategy are proposed. Combining the grouping and layering control framework，a GFC scheme under fault conditions is further proposed.Thirdly，combining synchronous DMPC theory with thefault model，a single group formation control algorithm under fault conditions is designed based onthe “fault isolation” strategy. Furthermore，a GFC algorithm is proposed according to the control scheme，and the stability of the formation system under the GFC algorithm is proved based on Lyapunov theory. Finall，the effectiveness and superiority of the designed algorithms under fault conditions are verified through simulation.

Keywords：unmanned aerial vehicle （UAV） formation； grouping formation control； irreparable fault;synchronous distributed model predictive control （DMPC）

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