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Finite‐time fault‐tolerant formation control for multiquadrotor systems with actuator fault
Author(s) -
Zhao Xinyi,
Zong Qun,
Tian Bailing,
Wang Dandan,
You Ming
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4321
Subject(s) - control theory (sociology) , actuator , fault tolerance , controller (irrigation) , control reconfiguration , fault (geology) , underactuation , lyapunov function , loop (graph theory) , position (finance) , computer science , propeller , lyapunov stability , engineering , control engineering , control (management) , mathematics , nonlinear system , distributed computing , physics , finance , quantum mechanics , artificial intelligence , combinatorics , seismology , marine engineering , agronomy , economics , biology , embedded system , geology
Summary This paper investigates the distributed tracking control of a group of underactuated quadrotors in the presence of actuator faults in three‐dimensional space. Using consensus protocol and sliding mode algorithm, a distributed finite‐time fault‐tolerant formation control scheme is developed. The whole closed‐loop system is composed by position loop, attitude loop, and propeller speed loop. A propeller speed fault‐tolerant controller is developed to deal with the unexpected faults of quadrotors. The finite‐time stability of the closed‐loop system is guaranteed through Lyapunov analysis. Finally, the efficiency of the proposed algorithm is illustrated by some numerical simulations.