Adaptive Fault-Tolerant Formation Control for Quadrotors with Actuator Faults

Liu, Wanzhang, Zhang, Ke, Jiang, Bin, Yan, Xinggang (2019) Adaptive Fault-Tolerant Formation Control for Quadrotors with Actuator Faults. Asian Journal of Control, 22 (3). pp. 1317-1326. ISSN 1561-8625. E-ISSN 1934-6093. (doi:10.1002/asjc.2008) (KAR id:70181)

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Official URL: http://dx.doi.org/10.1002/asjc.2008

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.

Item Type:	Article
DOI/Identification number:	10.1002/asjc.2008
Uncontrolled keywords:	Fault-tolerant control, Quadrotor, Adaptive control, Formation control
Subjects:	T Technology
Divisions:	Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User:	Xinggang Yan
Date Deposited:	19 Nov 2018 11:51 UTC
Last Modified:	05 Nov 2024 12:32 UTC
Resource URI:	https://kar.kent.ac.uk/id/eprint/70181 (The current URI for this page, for reference purposes)

University of Kent Author Information

Yan, Xinggang.

Creator's ORCID:	https://orcid.org/0000-0003-2217-8398
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