Distributed Adaptive Control for UAV Formation With Input Saturation and Actuator Fault

The distributed adaptive tracking control schemes are addressed to deal with the formation control problem of multiple unmanned aerial vehicles subject to input saturation, actuator fault, and external disturbance. First, a novel adaptive backstepping control approach associated with a command filter is presented to settle the model uncertainty and input saturation problems. Second, a robust fault-tolerant controller is introduced to tackle the case with external disturbance, actuator fault, and model uncertainty by estimating the upper bounds of the faults and external disturbances. In addition, the proposed controllers enable the asymptotical stability of the closed-loop system in case of undirected interaction graph. Finally, the numerical simulations demonstrate that the proposed approaches are effective for the unmanned aircraft vehicle (UAV) formation system with various constraints.