Fault Detection and Fault-Tolerant Cooperative Control of Multi-UAVs under Actuator Faults, Sensor Faults, and Wind Disturbances

Fault detection (FD) and fault-tolerant cooperative control (FTCC) strategies are proposed in this paper for multiple fixed-wing unmanned aerial vehicles (UAVs) under actuator faults, sensor wind disturbances. Firstly, the faulty model is introduced while effectiveness loss, deviation of thrust throttle setting, pitot faults considered. Secondly, UAV with disturbances linearized system then converted into two subsystems by using state output transformations. Further, unknown input observers (UIOs) developed to estimate disturbances, states. By combining observers’ estimations, adaptive thresholds designed detect system. Then, considering constraints, a backstepping-based FTCC scheme UAVs (multi-UAVs) suffering from It shown Lyapunov analysis that tracking errors fixed-time convergent. Finally, FD verified numerical simulation.