Adaptive finite-time fault-tolerant formation control for quadrotors with actuator faults

In this paper, the finite-time formation control of a group of quadrotor aircrafts with a leader is studied. Using adaptive update mechanism and boundary layer theory, a continuous finite-time fault-tolerant formation control protocol is constructed to compensate for actuator faults. The results show that using the proposed fault-tolerant controller can achieve the desired pattern of formation and the desired trajectory under actuator faults. Finally, a simulation example is given to show the effectiveness of the proposed method.