Finite-time fault-tolerant formation control for multiquadrotor systems with actuator fault

This paper investigates the distributed tracking control of a group of underactuated quadrotors in the presence of actuator faults in three-dimensional space. Using consensus protocol and sliding mode algorithm, a distributed finite-time fault-tolerant formation control scheme is developed. The whole closed-loop system is composed by position loop, attitude loop, and propeller speed loop. A propeller speed fault-tolerant controller is developed to deal with the unexpected faults of quadrotors. The finite-time stability of the closed-loop system is guaranteed through Lyapunov analysis. Finally, the efficiency of the proposed algorithm is illustrated by some numerical simulations.