Event-Based Human-in-the-Loop Formation-Containment Control for Heterogeneous UAV-USV Systems With Dual Predefined-Time Prescribed Performance

In this paper, the distributed human-in-the-loop (HiTL) formation-containment control problem for heterogeneous unmanned aerial vehicle-unmanned surface vehicle (UAVUSV) systems with dual prescribed performance is considered. First, the adaptive distributed formation control protocols are developed for all formation leaders to accomplish the expected formation configuration. For non-autonomous tracking leader, the human operator is introduced into formation control of multiple UAVs such that all formation leaders can follow the trajectory of the tracking leader. Then, an adaptive distributed containment control strategy is proposed for followers to guarantee that the trajectories of all USVs can converge to the convex hull generated by the formation leaders. Meanwhile, two enhanced predefinedtime prescribed performance functions are proposed to relax the precondition for the high-order continuous differentiability of the performance function. Moreover, the event-triggered mechanism (ETM) is considered into formation-containment control of UAV-USV systems to save the calculation and communication resources. According to the Lyapunov theory, the stability of the closed-loop system can be guaranteed and the formationcontainment errors are bounded within the prescribed boundary in a predefined time. Finally, the effectiveness of the distributed HiTL formation-containment control scheme is verified through a simulation example.