To address the Safety Flight Control (SFC) problem of aggressive maneuvering for Unmanned Autonomous Helicopters (UAH) under multi-constraint coupling environments, this study proposes a coordinated SFC strategy for multiple-type constraints under interval-type and norm-type dual-mode constraints, building upon the advantages of interval constraint processing. By designing a class of saturation-like smooth functions, the proposed method achieves smooth transition of commands at interval constraint boundaries, while constructing quadratic boundaries in norm space to fundamentally expand constraint processing dimensions and effectively alleviate the negative impacts of control saturation on closed-loop stability. Furthermore, a multi-constraint coordination mechanism based on dynamic priority scheduling is established to eliminate the influence of command limitation on closed-loop stability. On this basis, a hierarchical control architecture is constructed to realize decoupled design of position loop and attitude loop. Using such methods as input-to-state stability, closed-loop invariant sets, and Lyapunov functions, the controller parameter design is systematically summarized along with the stability, safety, and steady-state tracking performance of UAH closed-loop systems. Finally, the effectiveness of the proposed strategy is verified through a full-scale nonlinear model of a medium-sized UAH.

With the rapid development of information technology and artificial intelligence technology, advanced vehicles have been applied more and more widely in military and civilian fields. However, with the increasing complexity of the mission itself and the mission environment, the requirements for flight control are also increasing. Therefore, how to ensure the robustness and safety of flight control systems under the comprehensive influence of external disturbance is one of the research hot spots in recent years. Based on the existing research results at home and abroad, this paper summarizes the research status of composite anti-disturbance technology for advanced vehicles and outlined its future research and development direction. The design principle of the corresponding composite anti-disturbance control is analyzed mainly from the aspects of multi-disturbance observer composite control under multiple time-varying disturbances, composite anti-disturbance control under the combined action of time-varying disturbances and unmodeled dynamics, composite anti-disturbance control under input/output and state constraints, and composite anti-disturbance control based on disturbance coupling utilization. The key technologies that have been solved so far are reviewed. Finally, the future research directions of composite anti-disturbance control technology for advanced vehicles are discussed.

In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.

In this paper, a distributed Event-Triggered (ET) collision avoidance coordinated control for Quadrotor Unmanned Aerial Vehicles (QUAVs) is proposed based on Virtual Tubes (VTs) with flexible boundaries in the presence of unknown external disturbances. Firstly, VTs are constructed for each QUAV, and the QUAV is restricted into the corresponding VT by the artificial potential field, which is distributed around the boundary of the VT. Thus, the collisions between QUAVs are avoided. Besides, the boundaries of the VTs are flexible by the modification signals, which are generated by the self-regulating auxiliary systems, to make the repulsive force smaller and give more buffer space for QUAVs without collision. Then, a novel ET mechanism is designed by introducing the concept of prediction to the traditional fixed threshold ET mechanism. Furthermore, a disturbance observer is proposed to deal with the adverse effects of the unknown external disturbance. On this basis, a distributed ET collision avoidance coordinated controller is proposed. Then, the proposed controller is quantized by the hysteresis uniform quantizer and then sent to the actuator only at the ET instants. The boundedness of the closed-loop signals is verified by the Lyapunov method. Finally, simulation and experimental results are performed to demonstrate the superiority of the proposed control method.