This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking for a team of autonomous quadrotors carrying a suspended load. Formation control is provided by the combination of passivity-based techniques and backstepping, while a supervisory fault-tolerant control policy is responsible to reconfigure the network topology and the control objectives upon detection of faults among the vehicles.

Fault-tolerant formation control of a team of quadrotors with a suspended payload / Saiella, L.; Cristofaro, A.; Ferro, M.; Vendittelli, M.. - (2021), pp. 1-9. (Intervento presentato al convegno 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 tenutosi a Divani Caravel Hotel, grc) [10.1109/ICUAS51884.2021.9476749].

Fault-tolerant formation control of a team of quadrotors with a suspended payload

Cristofaro A.
Supervision
;
Ferro M.
Software
;
Vendittelli M.
Writing – Review & Editing
2021

Abstract

This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking for a team of autonomous quadrotors carrying a suspended load. Formation control is provided by the combination of passivity-based techniques and backstepping, while a supervisory fault-tolerant control policy is responsible to reconfigure the network topology and the control objectives upon detection of faults among the vehicles.
2021
2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Formation Control; Fault-tolerant control; UAVs
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Fault-tolerant formation control of a team of quadrotors with a suspended payload / Saiella, L.; Cristofaro, A.; Ferro, M.; Vendittelli, M.. - (2021), pp. 1-9. (Intervento presentato al convegno 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 tenutosi a Divani Caravel Hotel, grc) [10.1109/ICUAS51884.2021.9476749].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1574312
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