Optimal Cooperative Fault-Tolerant Control for UAV Formation Based on Topology Reconfiguration Strategy

This study proposes a cooperative fault-tolerant control framework that integrates energy optimization with topological reconfiguration for multi-UAV formation systems that encounter member failures. First, an adaptive fault-tolerant controller is developed under minimum energy constraints. Second, an optimal topology reconfiguration strategy is introduced, incorporating performance metrics that assess formation stability, communication efficiency, and structural symmetry. This approach enables adaptation of the autonomous topology switching and adjustment of the formation pattern in response to UAV failures. Theoretical analysis validates the method's stability and convergence, while simulation results confirm its effectiveness in handling actuator failures and achieving rapid formation reconfiguration. Experimental validation further substantiates the practical effectiveness of the proposed framework.