Formation Fault Tolerant Control of Multi - UAV Based on Virtual Actuator
Fujiao Zhou, Kecai Cao · 2018
In this paper, the fault tolerance of UAV formation is considered. The virtual actuator is used in the formation of UAV to hide the fault in the event of actuator failure. Sliding model adaptive formation controller is designed for formation to stabilize the formation. When the fault occurring in a single UAV, Firstly, the LQR state feedback controller is designed for the healthy system to stabilize the system, and then the virtual actuator is added between the nominal controller and the fault actuator to hide the fault to achieve the purpose of fault hiding. Finally, the validity of the proposed method is proved by simulation.