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Fault tolerant cooperative control for multiple unmanned aerial vehicle systems with plugging operations

A tracking problem for a group of multiple unmanned aerial vehicle (Multi-UAV) systems with agent faults is investigated. A neighbouring rule-based cooperative control algorithm is proposed such that the Multi-UAV systems can follow the common reference signals in a fault free situation. Once in the presence of faults that change the dynamics of the agents, a fault tolerant cooperative control strategy based on the plugging operations (with a minor adjustment of connection) is employed in order to make each agent continue to follow the reference signals without increasing the number of weak points. Moreover, the utilised plugging operations do not need to reconfigure any individual’s self control law or stop the faulty agents. Simulation results show the effectiveness of the proposed methods.