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.| File | Dimensione | Formato | |
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