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无人机集群系统的故障与环境干扰对多无人机协同控制带来诸多挑战，对多无人机容错协同控制的研究具有重要意义。基于分层递阶方法，提出了包含决策层、编队层、本地层的无人机容错协同控制研究框架。分别从故障诊断与容错控制方法两方面综述了本地层容错控制理论研究现状。梳理了包含单机故障、通信拓扑故障、外部因素干扰下的编队层容错控制方法。概述了无人机在对抗环境下任务分配的研究成果。基于现有研究成果对多无人机容错协同控制的难点进行归纳，并结合智能化健康管理、无人机编队重构、分布式网络安全等技术提出发展建议。
Abstract：Interference and failures of the mission environment pose many challenges to the cooperative control of multi-UAV. Therefore, the research on fault-tolerant cooperative control of multi-UAV is of great significance. Based on the hierarchical method, a research framework including decision-making layer,formation layer and local layer is proposed for UAV fault-tolerant cooperative control. The research status of local fault-tolerant control theory is reviewed from two aspects of fault diagnosis detection and fault-tolerant control methods. The formation fault-tolerant control methods including single-machine fault, communication topology fault and external disturbance are sorted out. And the research results of UAV task assignment in adversarial environment are summarized. Based on existing research results, the difficulties of multi-UAV fault-tolerant cooperative control technology are summarized, and development suggestions are put forward in combination with technologies such as intelligent health management, UAV formation reconstruction, and distributed network security.
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Basic Information:
DOI：10.16358/j.issn.1009-1300.20220004
China Classification Code:V249.1;V448
Citation Information:
[1]唐胜景,康振亮,李梦婷,等.多无人机容错协同控制研究现状与展望[J].战术导弹技术,2022,No.214(04):98-112+123.DOI:10.16358/j.issn.1009-1300.20220004.
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