Abstract: Aiming at the problem that the quadrotor UAV is affected by the actuator failure during formation control and the resultant tracking errors between UAVs, the fixed parameters controlled by the traditional PID cannot be applied to the complex environmental challenges faced by the quadrotor UAV. Consequently, a Fuzzy adaptive PID fault-tolerant controller and a sliding mode cooperative controller for multiple UAVs are devised. Firstly, the system model of UAV with Actuator Failure is established, with a reference trajectory set for the leading UAV. Through the designed fuzzy adaptive PID controller, the UAV experiencing actuator failures is guided to track the specified trajectory. Secondly, based on the sliding mode control theory, a formation cooperative controller, the controller is designed to make the distance error between the follower UAV and the leader UAV close to zero, achieving the desired formation. Finally, the comparison results of simulation experiments show that the proposed method exhibits minimal overshoot and strong robustness, thereby yielding a favorable control effect on the quadrotor UAV.

Key words: quadrotor UAV, actuator failure, fuzzy adaptive PID control, formation cooperative control, sliding mode control