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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    Title :

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


    Contributors:


    Publication date :

    2021-06-15


    Size :

    4591303 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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