Abstract
An active fault tolerant controller for unmanned aerial vehicles (UAVs) formation in the presence of actuator fault is developed in this paper. First, an outer loop controller is designed to ensure the stability of the whole UAVs formation stable, and an inner loop controller is designed to make UAV tracking the desired outer loop signal. Considering the occurrence of actuator fault, an active fault tolerant controller is developed based on the nominal controller to eliminate the influence of the actuator faults and guarantee the stability of the UAVs formation system. A sliding mode observer is used to reconstruct the states and actuator faults. At last, the effect of actuator faults on the system is analysed, and the validity of the method is proved by MATLAB.
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