A review on fault-tolerant cooperative control of multiple unmanned aerial vehicles |
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| Authors: | Ziquan YU Youmin ZHANG Bin JIANG Jun FU Ying JIN |
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| Institution: | 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;2. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC H3G 1M8, Canada;3. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China |
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| Abstract: | This paper presents the recent developments in Fault-Tolerant Cooperative Control(FTCC)of multiple unmanned aerial vehicles(multi-UAVs).To facilitate the analyses of FTCC methods for multi-UAVs,the formation control strategies under fault-free flight conditions of multi-UAVs are first summarized and analyzed,including the leader-following,behavior-based,vir-tual structure,collision avoidance,algebraic graph-based,and close formation control methods,which are viewed as the cooperative control methods for multi-UAVs at the pre-fault stage.Then,by considering the various faults encountered by the multi-UAVs,the state-of-the-art developments on individual,leader-following,and distributed FTCC schemes for multi-UAVs are reviewed in detail.Finally,conclusions and challenging issues towards future developments are presented. |
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| Keywords: | Cooperative Fault Detection and Diagnosis(CFDD) Cooperative/formation/swarm control Fault Detection and Diag-nosis(FDD) Fault-Tolerant Control(FTC) Fault-Tolerant Cooperative Control(FTCC) Unmanned Aerial Vehicles(UAVs) |
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