en عمومى General پژوهشي Research paper <span style="font-size:14px;"><span new="" roman="" style="font-family:" times="">The unique features of multi-rotor unmanned aerial vehicles (MRUAVs) have led to a variety of applications. However, the carrying capacity of MRUAVs remains one of the most critical challenges. Forming an MRUAV swarm can be an effective solution. In MRUAV swarms, followers require a formation control scheme to track one or more leaders. This formation control must address measurement noise, communication delays, model uncertainty, actuator and sensor faults, and cyber-attacks. In this paper, we propose a new cooperative adaptive fault-tolerant formation control for quadrotor swarms in the presence of deception during cyber-attacks. Quadrotors are connected to neighboring drones and a central leader. We evaluate the proposed method&#39;s ability to handle model uncertainty, actuator faults, cyber-attacks, and measurement noise through simulation studies. Considering all these challenges simultaneously and evaluating the presented formation control method stand as one of the primary contributions of this paper.</span></span> Cooperative control, fault-tolerant, formation control, quadrotor, unmanned aerial vehicle 0 0 http://jocee.kntu.ac.ir/browse.php?a_code=A-10-183-1&slc_lang=en&sid=1 Shirin Hadizadeh sh.hadizade@gmail.com 1003194753284600411 1003194753284600411 No Departments of Control, School of Electrical Engineering, Shahid Rajaee Teacher Training University Vahab Nekoukar v.nekoukar@sru.ac.ir 1003194753284600412 1003194753284600412 Yes Departments of Control, School of Electrical Engineering, Shahid Rajaee Teacher Training University Nima Mahdian Dehkordi nimamahdian@sru.ac.ir 1003194753284600413 1003194753284600413 No Departments of Control, School of Electrical Engineering, Shahid Rajaee Teacher Training University