Fully distributed adaptive fault-tolerant formation control for octorotors subject to multiple actuator faults

In this paper, the fault-tolerant formation control for multiple octorotor unmanned aerial vehicles is investigated. A fully distributed adaptive fault-tolerant formation control scheme is presented to achieve a desired formation flight under multiple uncertainties and actuator faults. The developed controller does not require the global information of the constructed communication network and the knowledge of faults. The robust formation system stability under multiple uncertainties and actuator faults is proven by Lyapunov analysis. Simulation results for octorotor formation flying are provided to demonstrate the effectiveness.