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

<div>Velocity trajectories of system in the <i>X</i> and <i>Y</i> directions. (a) Velocity trajectories in the <i>X</i> direction. (b) Velocity trajectories in the <i>Y</i> direction.</div>

Mathematical Problems in Engineering

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Figure 5

Figure 5: Fault-Tolerant Time-Varying Formation Tracking Control for Unmanned Aerial Vehicle Swarm Systems with Switching Topologies 