Xiaoshan Ma, Wenhan Dong and Bingqian Li
CFTC system, leader–follower UAV formation, RFTC, TFROA, formation faults
In this paper, a comprehensive fault-tolerant control (CFTC) system is proposed for leader–follower unmanned aerial vehicles (UAVs) formation control with formation faults. To this end, we describe the formation faults, including the topology faults and the UAV faults, the formation flight model and the UAV fault model. The CFTC system is formed by two subsystems, that is, the robust-fault- tolerant control (RFTC) and the topology faults reconfiguration and optimization algorithm (TFROA). The RFTC is introduced for compensating the UAV faults for each UAV, including a back stepping controller integrated with a cascade observer for resisting uncertainty and control surface faults, and two adaptive observers for compensating the actuator faults. In addition, the TFROA is introduced to minimize the communication and reconfiguration cost of the formation topology when detecting topology faults, which contains the formation shape chart, topology faults detection and the TFROA design. Finally, the effectiveness and potential of the CFTC system are demonstrated by the simulation results.
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