Finite‐time fault‐tolerant formation control for multiquadrotor systems with actuator fault

Abstract

Summary This paper investigates the distributed tracking control of a group of underactuated quadrotors in the presence of actuator faults in three‐dimensional space. Using consensus protocol and sliding mode algorithm, a distributed finite‐time fault‐tolerant formation control scheme is developed. The whole closed‐loop system is composed by position loop, attitude loop, and propeller speed loop. A propeller speed fault‐tolerant controller is developed to deal with the unexpected faults of quadrotors. The finite‐time stability of the closed‐loop system is guaranteed through Lyapunov analysis. Finally, the efficiency of the proposed algorithm is illustrated by some numerical simulations.