Adaptive Fuzzy Nonsingular Fixed-Time Safety Flight Containment Control for Multi-UAVs

This article investigates a fixed-time adaptive fuzzy containment control problem for six-rotor multi-UAVs with flight route constraints and external disturbances. An effective adaptive fuzzy fixed-time control method is proposed by using the backstepping recursive algorithm and combining fuzzy logic system (FLS) technology with fixed-time theory. In order to ensure that the flight trajectories of multi-UAVs are within the given safe dynamic convex hull range, a safe flight algorithm is proposed. Utilizing FLSs to estimate system uncertainty. And hyperbolic tangent function is introduced to avoid singularity problems. Through the Lyapunov method, it is demonstrated that the developed controller ensures that all signals of multi-UAVs position systems are bounded, and the tracking error converges to a small neighborhood of the origin within a fixed-time interval. Finally, the effectiveness of the control scheme is explicated through simulation.