Abstract:This paper addresses the formation and maintenance problem of multiple quadrotor unmanned aerial vehicles (UAVs) with additive actuator faults in obstacle environment. From the perspective of online receding horizon optimization, a distributed model predictive control (DMPC) method is designed. Considering the additive faults in the quadrotor UAV actuators, this paper introduces tube-based constraints to solve the input saturation problem caused by actuator faults. Furthermore, considering the constraints on the system states, a cost function is designed by introducing assumed state trajectories of self and neighboring quadrotor UAVs. Additionally, taking into account the obstacle avoidance and collision avoidance issues in the multi-quadrotor UAV formation, a collision avoidance and obstacle avoidance flight strategy based on control barrier functions is developed to ensure safe formation flight of the multi-quadrotor UAV systems in the presence of additive actuator faults. Finally, through simulation verification on four quadrotor UAVs, the effectiveness and superiority of the proposed algorithm for formation control are demonstrated in both fault-free and additive fault scenarios.