Adaptive Backstepping Sliding Mode Based Fault-Tolerant Cooperative Control for Multiple UAVs under Thrust Loss Faults and Input Saturation.

To overcome input saturation and loss of thrust effectiveness problems for multiple fixed-wing unmanned aerial vehicles (UAVs), a fault-tolerant cooperative control (FTCC) based on adaptive backstepping sliding mode control (BSMC) method is developed. An auxiliary dynamic system is constructed to solve the input saturation problem. Furthermore, adaptive laws are proposed to estimate the thrust effectiveness and lumped unknown term. Stability of the system and finitetime convergence of the error signals are proved by Lyapunov analysis. Finally, the effectiveness of the proposed control scheme is verified by the simulations.