This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking for a team of autonomous quadrotors carrying a suspended load. Formation control is provided by the combination of passivity-based techniques and backstepping, while a supervisory fault-tolerant control policy is responsible to reconfigure the network topology and the control objectives upon detection of faults among the vehicles.


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    Titel :

    Fault-tolerant formation control of a team of quadrotors with a suspended payload


    Beteiligte:


    Erscheinungsdatum :

    2021-06-15


    Format / Umfang :

    4591303 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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