Fixed-Time Observer-Based Sliding Mode Fault-Tolerant Control for Multiple Quadrotor UAVs with Actuator Faults

This paper concentrates on the attitude synchronization control of multiple quadrotors suffering from external disturbances and actuator faults. For estimating the external disturbances and actuator faults, a fixed-time observer is designed for each follower. A tracking control strategy based on continuous non-singular terminal sliding mode control with an integrative sliding surface (CNTSMC-ISS) is given to ensure that the system states converge in finite time. Finally, the simulation results demonstrate that the devised formation control scheme can achieve fast convergence of system states.