This paper proposes a fault tolerant controller for formation flying of leader follower quadrotor UAVs. Fault in a quadrotor is modelled as a loss of effectiveness (LOE) of rotor. The proposed adaptive backstepping control strategy estimates the fault in the individual quadrotors and computes the control inputs to the quadrotors so as to maintain the formation while compensating for the fault. The simulation results highlight the impact of fault on the formation and effectiveness of the Fault Tolerant Control (FTC) strategy.
Fault Tolerant Controller for Formation Flight of Leader-Follower Quadrotors
01.06.2020
505804 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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