1- Departments of Control, School of Electrical Engineering, Shahid Rajaee Teacher Training University
Abstract: (1086 Views)
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'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.
Keywords: Cooperative control, fault-tolerant, formation control, quadrotor, unmanned aerial vehicle
Type of Article: Research paper |
Subject:
General
Received: 2023/06/4 | Accepted: 2024/02/24 | ePublished ahead of print: 2024/02/25
Received: 2023/06/4 | Accepted: 2024/02/24 | ePublished ahead of print: 2024/02/25
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