Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies

<div>Position snapshots of the virtual leader and the followers. (a) Position snapshots at <i>t</i> = 1 s, 3 s, 5 s, and 7 s for the UAVs. (b) Position snapshots at <i>t</i> = 9 s, 10 s, 11 s, and 13 s for the UAVs. (c) Position snapshots at <i>t</i> = 15.28 s, 16.28 s, 17.28 s, and 19.28 s for the UAVs.</div>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies 