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.
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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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