Finite-Time Fault-Tolerant Formation Control for Multi-UAV Systems Based on Extended State Observer
Tao Li1  Zehao Dong2

1 Guangdong Airport Baiyun Information Technology Co., LTD,Guangzhou  Guangdong, 510470;

2 Shandong Institute of Aeronautics,Binzhou  Shandong Province, 256600;

Abstract：This paper investigates the cooperative fault-tolerant control problem for multiple unmanned aerial vehicles(UAVs) under actuator faults and external disturbances.Using a graph- theoretic framework, the communication among UAVs is struc- tured to support distributed coordination.Actuator bias faults and unknown disturbances are treated as a combined disturbance and estimated together with system states through an extended s- tate observer (ESO).To enhance estimation accuracy, an adaptive algorithm is introduced to adjust fault and disturbance parame- ters in real time.A sliding mode controller is then developed to compensate for estimation errors and actuator failures, ensuring robust tracking performance. Lyapunov-based stability analysis guarantees the finite-time convergence of formation errors under the proposed control scheme. Numerical simulations verify the effectiveness of the approach, demonstrating strong fault-tolerant coordination capabilities suitable for practical multi-UAV appli- cations.

Keywords：Fault tolerant formation control;Sliding mode controll design;Multi-UAVs.

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