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 |
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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: | Faculties > Sciences > School of Engineering and Digital Arts |
| Depositing User: | Xinggang Yan |
| Date Deposited: | 19 Nov 2018 11:51 UTC |
| Last Modified: | 05 Oct 2020 12:39 UTC |
| Resource URI: | https://kar.kent.ac.uk/id/eprint/70181 (The current URI for this page, for reference purposes) |
| Yan, Xinggang: |  https://orcid.org/0000-0003-2217-8398 |
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