Prescribed-time event-triggered fault-tolerant formation control of multiple UAVs under tracking error constraints

Abstract

This paper studies an event-triggered fault-tolerant tracking control strategy design of multiple quadrotor UAVs (MQUAVs) formation subject to the composite influence of external disturbance, tracking error constraints and actuator faults. A prescribed time prescribed performance function is employed to solve tracking error constraints and it ensures the tracking error enters into the constraint boundary in the prescribed time. A first-order filter is designed to solve the problem of computational explosion caused by reference trajectory and unknown external disturbance. The adaptive method is used to deal with the unknown parameters and the comprehensive uncertainty which contains actuator faults and external disturbance. Furthermore, the event-triggered controller is designed to achieve the formation tracking with the reduction of update number of controller to save resources. The bounded stability of the tracking error is proved via the Lyapunov theory. At last, the effectiveness of the control strategy is verified by simulation.