Fault-tolerant Cooperative Control of Multiple Quadrotor UAVs Handling a Common Load

This paper focuses on the modeling and a generalized control framework for the coordinated quadrotor UAVs-Load transportation system. At first, the relatively complete dynamic models for multiple quadrotor UAVs are established under undetectable actuation faults and uncertain wind interference, considering the external effects of the load on the translational and rotational motions of each quadrotor UAV. And in order to transport the load smoothly and safely, the consensus control problem how to make the UAVs maintain the designed geometric configuration is formulated correspondingly. Finally, by introducing the virtual parameter estimation error into the Lyapunov function based on neighboring UAVs state information, the adaptive fault-tolerant controllers are developed to ensure that the defined synchronization errors for the UAVs position and attitude are uniform ultimate bound(UUB). The simulation results also prove the effectiveness of the proposed control approach.