Fault-tolerant formation control of a team of quadrotors with a suspended payload
Lorenzo Saiella, Andrea Cristofaro, Marco Ferro, Marilena Vendittelli · 2021
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.