摘要
This paper presents the recent developments in Fault-Tolerant Cooperative Control(FTCC)of multiple unmanned aerial vehicles(multi-UAVs).To facilitate the analyses of FTCC methods for multi-UAVs.the formation control strategies under fault-free flight conditions of multi-UAVs are first summarized and analyzed,including the leader-following,behavior-based,virtual structure,collision avoidance,algebraic graph-based,and close formation control methods,which are viewed as the cooperative control methods for multi-UAVs at the pre-fault stage.Then,by considering the various faults encountered by the multi-UAVs,the state-of-the-art developments on individual,leader-following,and distributed FTCC schemes for multi-UAVs are reviewed in detail.Finally,conclusions and challenging issues towards future developments are presented.
基金
supported in part by National Natural Science Foundation of China(Nos.61833013,62003162,62020106003,61873055)
Natural Science Foundation of Jiangsu Province of China(No.BK20200416)
China Postdoctoral Science Foundation(Nos.2020TQ0151,2020M681590)
State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang,China(No.2019-KF-23-05)
111 Project
China(No.B20007)
Natural Sciences and Engineering Research Council of Canada.