Adaptive fault-tolerant control design for UAVs formation flight under actuator faults

This paper studies fault tolerant control(FTC) method of incipient and severe actuator faults of unmanned aerial vehicles (UAVs) formation. We first design a feedback control for the initial normal system. In the event of actuator faults, a compensation is add into the initial controller to accomplish fault tolerant and stabilize the whole formation as well. Then the difference between controllers of incipient and severe faults is analyzed. Finally the proposed method is illustrated via 5-UAV formation example.