Research on the Decentralized Control Method of Electric Unmanned Aerial Vehicles with Distributed Electric Propulsion Systems
WANG Long
LI Hongbo
LI Tianxing
Abstract：To address issues such as single-point failures and insufficient anti-interference capabilities in traditional centralized control architectures for distributed electric propulsion systems,a decentralized co-operative control method is proposed.First,a distributed architecture based on dynamic traction consen-sus is designed to achieve high-precision speed synchronization of multiple motors through information co-ordination,eliminating reliance on a central controller.Second,a sliding mode observer is developed to re-construct composite disturbances in real time,enhancing control performance under disturbances.Finally,simulations are conducted using a hardware-in-the-loop platform.The results show that compared to cen-tralized control,the proposed method improves synchronization accuracy by 5.3 times,reducing the maxi-mum error from 4.69%to 0.77%.Fault redundancy and disturbance compensation performance are sig-nificantly enhanced,eliminating yaw caused by force imbalances and enabling stable flight of DEP-UAVs.This research provides technical support for the design of highly reliable electric propulsion systems in un-manned aerial vehicles.
Keywords：distributed electric propulsiondecentralized controlcooperative-controlanti-interference
Publication Date：2025-10-25
Online Publishing Date：2025-10-17(First online date of this platform, not the publication date of the document)
Pages：8( 109-116 )