Cooperative Adaptive Fault-Tolerant Formation Control of Quadrotor Swarm with Cyber-Attacks

The unique features of multi-rotor unmanned aerial vehicles (MRUAVs) have led to a variety of applications. However, the carrying capacity of MRUAVs remains one of the most critical challenges. Forming an MRUAV swarm can be an effective solution. In MRUAV swarms, followers require a formation control scheme to track one or more leaders. This formation control must address measurement noise, communication delays, model uncertainty, actuator and sensor faults, and cyber-attacks. In this paper, we propose a new cooperative adaptive fault-tolerant formation control for quadrotor swarms in the presence of deception during cyber-attacks. Quadrotors are connected to neighboring drones and a central leader. We evaluate the proposed method's ability to handle model uncertainty, actuator faults, cyber-attacks, and measurement noise through simulation studies. Considering all these challenges simultaneously and evaluating the presented formation control method stand as one of the primary contributions of this paper