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Sys."],"published-print":{"date-parts":[[2016,7]]},"abstract":"<jats:p> This paper presents a leader-follower type of fault-tolerant formation control (FTFC) methodology with application to multiple unmanned aerial vehicles (UAVs) in the presence of actuator failures and potential collisions. The proposed FTFC scheme consists of both outer-loop and inner-loop controllers. First, a leader-follower control scheme with integration of a collision avoidance mechanism is designed as the outer-loop controller for guaranteeing UAVs to keep the desired formation while avoiding the approaching obstacles. Then, an active fault-tolerant control (FTC) strategy for counteracting the actuator failures and also for preventing the healthy actuators from saturation is synthesized as the inner-loop controller. 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