Node Gain-based Cooperative Fault-tolerant Tracking Control of Multi-helicopter Systems

The study proposes a cooperative fault-tolerant tracking control scheme for multi-helicopter systems with sensor faults, actuator faults, and system nonlinearities. The control framework contains a decentralized fault estimation and distributed fault-tolerant tracking control structure. To ensure the excellent tracking performance of multi-helicopter systems, a cooperative fault-tolerant tracking control protocol based on distributed node gain is proposed equipped with the estimation information in fault estimation. Simulation results verify the effectiveness of the proposed cooperative tracking control algorithm.