Distributed Fault-Tolerant Collision Avoidance Control of Multiple UAVs

In this paper, the distributed fault-tolerant tracking control and collision avoidance problem is investigated for unmanned aerial vehicles (UAVs) with actuator failures. First, a formation controller based on backstepping control is designed to track the target trajectory. Then, an adaptive parameter update law is developed to address the UAVs actuator failures and an improved artificial potential function is discussed for collision avoidance. Finally, simulation results of two UAVs are given to verify the effectiveness and feasibility of this method.