Finite-Time Fault-Tolerant Formation Cooperative Control of Multiple Fixed-Wing UAVs

Formation cooperative control technology, as a core and critical aspect of unmanned aerial vehicle (UAV) mission execution, is significantly influenced by factors such as natural conditions and mission time constraints in strong jamming environment. Under these circumstances, UAV formation cooperative control faces challenges such as "actuator failures" and "asymptotic convergence (the convergence time approaches infinity)". To address these issues, this paper proposes a non-singular finite-time fault-tolerant formation cooperative control strategy for a class of six-degree-of-freedom multi-fixed-wing UAV formation systems. Initially, finite-time formation cooperative control algorithms are developed for the velocity and attitude systems of fixed-wing UAVs. By introducing a novel switching function, the potential singularities in the controller is resolved effectively. Subsequently, an adaptive update law based on fault parameters is designed to address actuator failures. Finally, the finite-time stability of the control algorithm is ri-gorously proven using finite-time stability theory. Semi-physical simulation experiments are conducted to validate the effectiveness and feasibility of the proposed control method.