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Dettaglio pubblicazione

2021, 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, Pages 1-9

Fault-tolerant formation control of a team of quadrotors with a suspended payload (04b Atto di convegno in volume)

Saiella L., Cristofaro A., Ferro M., Vendittelli M.

This paper proposes a fault-tolerant architecture for formation control and cooperative trajectory tracking for a team of autonomous quadrotors carrying a suspended load. Formation control is provided by the combination of passivity-based techniques and backstepping, while a supervisory fault-tolerant control policy is responsible to reconfigure the network topology and the control objectives upon detection of faults among the vehicles.
ISBN: 978-1-6654-1535-4
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