Abstract
In this paper we derive adaptive reconfigurable formation control algorithms using a leader-follower framework in the presence of loss-of-effectiveness control effector failures in the follower vehicle. We first present stable formation control algorithms designed to maintain the relative distances between the vehicles close to their desired values. A baseline reconfigurable control algorithm, and an online failure detection and identification system is then designed. Next, the adaptive reconfigurable control scheme is presented, followed by a proof of stability of the overall closed-loop formation control system. Simulation results are included to illustrate the properties of the proposed approach.
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