Saiella, Lorenzo (Sapienza Università di Roma), Cristofaro, Andrea (Sapienza Università di Roma), Ferro, Marco (Sapienza Università di Roma), Vendittelli, Marilena (Sapienza Università di Roma)

Fault-Tolerant Formation Control of a Team of Quadrotors with a Suspended Payload

Scheduled for presentation during the Regular Session "Fault-Tolerant Control" (WeA1), Wednesday, June 16, 2021, 10:30−10:50, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking for a team of autonomous quadrotors carrying a suspended load. Formation stability is provided by the combination of passivity-based techniques and backstepping control, while a supervisory fault-tolerant control policy is responsible to reconfigure the network topology and the control objectives upon detection of faults among the vehicles.