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In this paper, we investigate the fault-tolerant formation control of a group of quadrotor aircrafts with a leader. Continuous fault-tolerant formation control protocol is constructed by using adaptive updating mechanism… Click to show full abstract
In this paper, we investigate the fault-tolerant formation control of a group of quadrotor aircrafts with a leader. Continuous fault-tolerant formation control protocol is constructed by using adaptive updating mechanism and boundary layer theory to compensate actuator fault. Results show that the desired formation pattern and trajectory under actuator fault can be achieved using the proposed fault-tolerant formation control. A simulation is conducted to illustrate the effectiveness of the method.
Journal Title: Asian Journal of Control
Year Published: 2019
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