Multi-UAV Formation Distributed Fault-tolerant Control

Aiming at the fault tolerant control problem of quadrotor UAV, a distributed fault tolerant control method of multi-UAV is proposed. In distributed fault-tolerant control system, each UAV system contains a layered controller divided into two layers. The upper layer is a virtual system, which deals with the issues of track planning, formation control and cooperative communication among multiple UAVs. The lower layer is a real system, which deals with the track tracking and fault tolerance of a single UAV system. The complex multi-UAV group collaboration problem is decoupled into the fault tolerance problem of a single UAV. In the virtual system, the flight path planning and formation control algorithm plan the formation path and formation of UAV, and give the ideal state of each UAV. The real system of the lower layer tracks the ideal state of the UAV through the track tracking algorithm. When a UAV in the formation fails to track the ideal state, the uav will quit the formation. Since the real UAV system only receives the status information from the virtual system and does not transmit the information to the virtual system, the fault information is avoided to spread in the formation.