Fault Tolerant Cooperative Control for Heterogeneous Multiple UAVs

The fault tolerant cooperative control problem of heterogeneous multiple UAVs with additive actuation faults and external disturbances is explored in this paper. A distributed control protocol based on adaptive control is proposed to ensure the boundedness of attitude synchronization errors of heterogeneous UAVs with directed topology graph in the presence of faults. The effectiveness of the proposed control strategies is verified via a simulation study.