Adaptive fault‐tolerant formation control for quadrotors with actuator faults
Copyright policy )Adaptive fault‐tolerant formation control for quadrotors with actuator faults
AbstractIn 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.
- University of Kent United Kingdom
- Northeastern University China (People's Republic of)
- Nanjing University of Aeronautics and Astronautics China (People's Republic of)
Adaptive control/observation systems, T, quadrotor, Automated systems (robots, etc.) in control theory, formation control, fault-tolerant control, adaptive control
Adaptive control/observation systems, T, quadrotor, Automated systems (robots, etc.) in control theory, formation control, fault-tolerant control, adaptive control
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