Trajectory and Attitude Cooperative Formation Control for Air-Ground Collaborative Systems under Communication Faults

This paper focuses on the formation problem of air-ground collaborative system under communication failure. The air-ground collaborative system is a kind of heterogeneous multi-agent system composed of underactuated quadcopter UAVs and ground intelligent vehicles. The communication between the agents is local, and the intelligent vehicle can obtain the X and Y axes information of neighboring UAVs. In order to obtain the true expected value of the neighbor reference information with uncertainty affected by communication failure, a state observer based on finite-time theory is designed. For quadcopter UAVs, the cascade architecture is first used to design the position loop’s distributed control force. Then, the command attitude and thrust are extracted to design the attitude loop’s control torque, so as to realize the attitude coordination and formation configuration of the UAVs. Finally, the mathematical simulation of distributed fault-tolerant formation control of air-ground collaborative system is realized.