Cooperative Adaptive Fault-Tolerant Formation Control for Heterogeneous Multiple Vehicles With Actuator Faults

This paper studies the fault-tolerant control problem for the heterogeneous vehicles formation systems consisting of multiple mobile robots and quadrotors with unknown time-varying actuator faults and external disturbances. First, the position and attitude subsystem of follower heterogeneous vehicles are considered and the heterogeneous characteristics are analyzed, and the heterogeneous vehicle formation system model is further presented. Then, the minimum-eigenvalue-based adaptive fault-tolerant control strategy is proposed, where the adaptive terms are adopted to compensate for the unknown time-varying actuator loss of effectiveness faults and bias faults and the computational complexity of adaptive estimation can be further reduced.