郭雷 , 余翔 , 张霄 , 等 . 无人机安全控制系统技术:进展与展望 [J ] . 中国科学:信息科学 , 2020 , 50 ( 2 ): 184 - 194 .

GUO L , YU X , ZHANG X , et al . Safety control system technologies for UAVs:review and prospect [J ] . Scientia Sinica Informationis , 2020 , 50 ( 2 ): 184 - 194 . (in Chinese) DOI: 10.1360/SSI-2019-0101 http://doi.org/10.1360/SSI-2019-0101 http://engine.scichina.com/doi/10.1360/SSI-2019-0101 http://engine.scichina.com/doi/10.1360/SSI-2019-0101

陈谋 , 马浩翔 , 雍可南 , 等 . 无人机安全飞行控制综述 [J ] . 机器人 , 2023 , 45 ( 3 ): 345 - 366 . DOI: 10.13973/j.cnki.robot.220392 http://doi.org/10.13973/j.cnki.robot.220392 随着无人机在军事和民用领域的广泛应用,如何在保证无人机安全的同时高效完成预定任务,成为近年来飞行控制领域的研究热点之一。基于对国内外现有研究成果的梳理与总结,本文综述了无人机安全飞行控制领域的研究现状与未来发展方向。首先,针对无人机在不同任务场景下的飞行安全要求进行了概述。随后,将无人机面临的安全飞行控制问题归纳为安全边界保护控制、不同约束下的安全控制、系统故障与攻击下的安全控制,以及无人机集群系统安全控制 4 个方面,并分别阐述与分析了各方面目前已有的关键控制技术。最后,对无人机安全飞行控制技术未来的发展方向进行了展望。

CHEN M , MA H X , YONG K N , et al . Safety flight control of UAV: a survey [J ] . Robot , 2023 , 45 ( 3 ): 345 - 366 . (in Chinese) DOI: 10.13973/j.cnki.robot.220392 http://doi.org/10.13973/j.cnki.robot.220392 With the extensive applications of unmanned aerial vehicle (UAV) in military and civil fields, how to ensure the safety of UAV while completing the presupposed task becomes one of the research hotspots in the field of flight control area in recent years. Based on the review and summary of the existing research results at home and abroad, this paper summarizes the research status and future development directions in the safety flight control field of UAV. Firstly, the flight safety requirements of UAVs in different mission scenarios are summarized. Then, the safety flight control problems of UAV are mainly summarized into four aspects:safety envelope protection control, safety control under different constraints, safety control under system faults and attack, and safety control for UAVs swarm, and the key control techniques and their advantages and disadvantages are described and analyzed respectively. Finally, the future development directions of UAV safety flight control are prospected.

ZHANG S J , MENG Q K . An anti-windup INDI fault-tolerant control scheme for flying wing aircraft with actuator faults [J ] . ISA Transactions , 2019 , 93 : 172 - 179 . DOI: S0019-0578(19)30119-3 http://doi.org/S0019-0578(19)30119-3 In this paper, an anti-windup incremental nonlinear dynamic inversion (INDI) fault-tolerant scheme is proposed for flying wing aircraft with actuator faults, actuator saturation and uncertainties of aerodynamic parameters. An optimal anti-windup compensator based on nonlinear partial differential inequalities is used to compensate the actuator saturation. INDI is used to control the fault system and compensate the uncertainties of the flight dynamics. Control allocation strategy is designed in consideration of the control scheme and configuration of the control surfaces. The proposed control method can guarantee the bounded tracking of the reference signals. Simulation results are given to show the effectiveness of the proposed method.Copyright © 2019 ISA. Published by Elsevier Ltd. All rights reserved.

徐明兴 . 考虑非线性影响的飞翼布局无人机多舵面分配方法研究 [D ] . 西安 : 西北工业大学 , 2014 .

XU M X . Control allocation for flying wing unmanned aerial vehicle with nonlinear characteristics considered [D ] . Xi’an : Northwestern Polytechnical University , 2014 . (in Chinese)

李炳乾 , 董文瀚 , 马小山 . 无人机编队保持反步容错控制 [J ] . 兵工学报 , 2018 , 39 ( 11 ): 2172 - 2184 . DOI: 10.3969/j.issn.1000-1093.2018.11.011 http://doi.org/10.3969/j.issn.1000-1093.2018.11.011 针对领导-跟随无人机编队中的执行器故障、不确定气动参数和外界扰动等问题，设计了无人机编队保持反步容错控制。建立了编队纵向、编队横向和编队高度三维误差模型，并将无人机本体方程分为快慢两个回路，建立包含外界扰动、不确定气动参数及执行器故障的无人机运动模型；设计内环容错控制系统，对编队外环控制器产生的指令信号进行跟踪。内环容错控制系统主要由3个部分组成：一是基于滑模观测器的故障检测和辨识，实现对故障执行器的定位和故障参数的辨识；二是将故障参数及干扰观测器与反步容错控制相结合，实现包容外界扰动、不确定气动参数和执行器故障的容错控制；三是内环容错控制系统稳定性分析。仿真结果表明，所提容错控制方法能够有效地实现无人机编队的飞行容错控制。

LI B Q , DONG W H , MA X S . Finite element simulation and process analysis of projectile entering into barrel [J ] . Acta Armamentarii , 2018 , 39 ( 11 ): 2172 - 2184 . (in Chinese)

RIAZ U , TAYYEB M , AMIN A . A review of sliding mode control with the perspective of utilization in fault tolerant control [J ] . Recent Advances in Electrical and Electronic Engineering , 2021 , 14 ( 3 ): 312 - 324 .

HASSAN M N , HARIS M , QIN S . Fault-tolerant spacecraft attitude control:a critical assessment [J ] . Progress in Aerospace Sciences , 2022 , 130 : 00806 .

ZHANG S J , SHUANG W F , MENG Q K . Control surface faults neural adaptive compensation control for tailless flying wing aircraft with uncertainties [J ] . International Journal of Control, Automation and Systems , 2018 , 16 ( 4 ): 1660 - 1669 . DOI: 10.1007/s12555-017-0454-y http://doi.org/10.1007/s12555-017-0454-y

ZHANG S J , HUANG C Y , JI K , et al . Prescribed performance incremental adaptive optimal fault-tolerant control for nonlinear systems with actuator faults [J ] . ISA Transactions , 2022 , 120 : 99 - 109 . DOI: 10.1016/j.isatra.2021.03.011 http://doi.org/10.1016/j.isatra.2021.03.011 https://linkinghub.elsevier.com/retrieve/pii/S001905782100152X https://linkinghub.elsevier.com/retrieve/pii/S001905782100152X

YU Z L , LI Y H , PEI B B , et al . Nonsingular fixed-time fault-tolerant attitude control for tailless flying wing aircraft with time-varying flight envelope constraints [J ] . International Journal of Robust Nonlinear Control , 2023 , 33 ( 6 ): 3420 - 3439 . DOI: 10.1002/rnc.v33.6 http://doi.org/10.1002/rnc.v33.6 https://onlinelibrary.wiley.com/toc/10991239/33/6 https://onlinelibrary.wiley.com/toc/10991239/33/6

SHTESSEL Y , BUFFINGTON J , BANDA S . Tailless aircraft flight control using multiple time scale reconfigurable sliding modes [J ] . IEEE Transactions on Control Systems Technology , 2002 , 10 ( 2 ): 288 - 296 . DOI: 10.1109/87.987075 http://doi.org/10.1109/87.987075 http://ieeexplore.ieee.org/document/987075/ http://ieeexplore.ieee.org/document/987075/

禹志龙 , 李颖晖 , 郑无计 , 等 . 复杂结冰环境下飞机鲁棒飞行安全包线分析 [J ] . 航空学报 , 2020 , 41 ( 1 ): 115 - 123 .

YU Z L , LI Y H , ZHENG W J , et al . Robust flight safe envelope analysis for aircraft under complex icing conditions [J ] . Acta Aeronautics et Astronautica Sinica , 2020 , 41 ( 1 ): 115 - 123 . (in Chinese)

BU X W . Envelope-constraint-based tracking control of air-breathing hypersonic vehicles [J ] . Aerospace Science and Technology , 2019 , 95 : 105429 . DOI: 10.1016/j.ast.2019.105429 http://doi.org/10.1016/j.ast.2019.105429 https://linkinghub.elsevier.com/retrieve/pii/S1270963819315962 https://linkinghub.elsevier.com/retrieve/pii/S1270963819315962

WU Z H , LU J J C , ZHOU Q , et al . Modified adaptive neural dynamic surface control for morphing aircraft with input and output constraints [J ] . Nonlinear Dynamics , 2017 , 87 : 2367 - 2383 . DOI: 10.1007/s11071-016-3196-0 http://doi.org/10.1007/s11071-016-3196-0 http://link.springer.com/10.1007/s11071-016-3196-0 http://link.springer.com/10.1007/s11071-016-3196-0

TANG X N , ZHAI D , LI X J . Adaptive fault-tolerance control based finite-time backstepping for hypersonic flight vehicle with full state constrains [J ] . Information Sciences , 2020 , 507 : 53 - 66 . DOI: 10.1016/j.ins.2019.08.012 http://doi.org/10.1016/j.ins.2019.08.012 https://linkinghub.elsevier.com/retrieve/pii/S0020025519307479 https://linkinghub.elsevier.com/retrieve/pii/S0020025519307479

YU Z Q , ZHANG Y M , JIANG B , et al . Nussbaum-based finite-time fractional-order backstepping fault-tolerant flight control of fixed-wing UAV against input saturation with hardware-in-the-loop validation [J ] . Mechanical Systems and Signal Processing , 2021 , 153 : 107406 . DOI: 10.1016/j.ymssp.2020.107406 http://doi.org/10.1016/j.ymssp.2020.107406 https://linkinghub.elsevier.com/retrieve/pii/S0888327020307925 https://linkinghub.elsevier.com/retrieve/pii/S0888327020307925

HU Q L , SHAO X D , GUO L . Adaptive fault-tolerant attitude tracking control of spacecraft with prescribed performance [J ] . IEEE/ASME Transactions on Mechatronics , 2017 , 23 ( 1 ): 331 - 341 . DOI: 10.1109/TMECH.3516 http://doi.org/10.1109/TMECH.3516 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516

GAO S H , LIU X P , JING Y W , et al . Finite-time prescribed performance control for spacecraft attitude tracking [J ] . IEEE/ASME Transactions on Mechatronics , 2022 , 27 ( 5 ): 3087 - 3098 . DOI: 10.1109/TMECH.2021.3108558 http://doi.org/10.1109/TMECH.2021.3108558 https://ieeexplore.ieee.org/document/9538395/ https://ieeexplore.ieee.org/document/9538395/

YU Z L , LI Y H , LÜ M L , et al . Predefined-time anti-saturation fault-tolerant attitude control for tailless aircraft with guaranteed output constraints [J ] . Nonlinear Dynamics , 2023 , 111 ( 2 ): 1399 - 1416 . DOI: 10.1007/s11071-022-07904-7 http://doi.org/10.1007/s11071-022-07904-7

LIU Y J , TONG S C . Barrier Lyapunov functions for Nussbaum gain adaptive control of full state constrained nonlinear systems [J ] . Automatica , 2017 , 76 : 143 - 152 . DOI: 10.1016/j.automatica.2016.10.011 http://doi.org/10.1016/j.automatica.2016.10.011 https://linkinghub.elsevier.com/retrieve/pii/S0005109816304034 https://linkinghub.elsevier.com/retrieve/pii/S0005109816304034

DING Z T . Adaptive consensus output regulation of a class of nonlinear systems with unknown high-frequency gain [J ] . Automatica , 2015 , 51 : 348 - 355 . DOI: 10.1016/j.automatica.2014.10.079 http://doi.org/10.1016/j.automatica.2014.10.079 https://linkinghub.elsevier.com/retrieve/pii/S0005109814004609 https://linkinghub.elsevier.com/retrieve/pii/S0005109814004609

QU X B , ZHANG W G , SHI J P , et al . A novel yaw control method for flying-wing aircraft in low speed regime [J ] . Aerospace Science and Technology , 2017 , 69 : 636 - 649 . DOI: 10.1016/j.ast.2017.07.036 http://doi.org/10.1016/j.ast.2017.07.036 https://linkinghub.elsevier.com/retrieve/pii/S1270963817305539 https://linkinghub.elsevier.com/retrieve/pii/S1270963817305539

RAJPUT J . 无尾飞翼式飞行器的非线性控制设计与控制分配方法研究 [D ] . 西安 : 西北工业大学 , 2016 .

RAJPUT J . Nonlinear control design and control allocation for tailless flying wing aircraft [D ] . Xi’an : Northwestern Polytechnical University , 2016 . (in Chinese)