A fault-tolerant control method for the UAV formation that has topological fault, control surface fault, actuator fault and uncertainty is proposed. Firstly, the formation motion model and the UAV motion model are established. Then based on the topological fault detection method, the topological fault reconstruction and optimization algorithm is proposed to realize the formation topological fault reconstruction and optimization with minimum communication cost and formation reconstruction cost. In designing the backstepping fault-tolerant control method, the actuator's fault identification module and the auxiliary system module are used to estimate and compensate for the faults of the actuator and the control surface respectively so as to realize the stable flight of the UAV formation under the conditions of actuator fault, control surface fault and uncertainty. The simulation results verify the superiority of the fault-tolerant control method for the UAV formation with topological faults.
A Fault-Tolerant Control Method for Unmanned Aerial Vehicle (UAV) Formation with Topological Faults Considered