Fault tolerant multivehicle formation control framework with applications in multiquadrotor systems
Shi, Jiantao; Zhou, Donghua; Yang, Yuhao; Sun, Jun
Sci China Inf Sci, 2018, 61(12): 124201
Compared with the traditional monolithic systems, a group of vehicles operating cooperatively in a formation can achieve greater efficiency and capability. However, faults may occur more frequently in multivehicle formations because a large number of controllers, sensors, and communication equipment exist. Occasionally, a fault occurring in one vehicle of the formation may deteriorate the system performance or even cause catastrophic accidents. Thus, fault-tolerant formation control schemes are indispensable to achieve a reliable and safe operation.