Adaptive Fuzzy Control for Fixed-Wing UAV Swarms under Comprehensive Flight State Constraints

In this article, a constraint-oriented 6-degree-of-freedom fixed-wing multiple unmanned aerial vehicles (multi-UAV) containing model uncertainties are solved for the speed and attitude synchronisation problem. In order to address the effects of the constraints on the speed and attitude of the multi-UAVs, an asymmetric time-varying tan-type barrier Lyapunov function (BLF) is efficiently designed to ensure that the states of the multi-UAVs remain within the constraint bounds. In addition, a novel fixed-time constraint bound function (FTCBF) is proposed that not only relaxes the constraints on the initial state, but also ensures that the UAV converges to within the given constraint bound in a fixed time. Subsequently, a speed and attitude controllers are designed to ensure that all states of the multi-UAS are bounded. Finally, the effectiveness of the proposed algorithm is demonstrated by numerical simulations.