Finite-time Prescribed Performance Cooperative Control of Multiple Unmanned Aerial Vehicles under Actuator Faults

This paper proposes a finite-time prescribed performance fault-tolerant cooperative control method for multiple unmanned aerial vehicles (UAVs) encountering actuator faults. First, the model of the UAV is transformed into a control-oriented model, and the actuator faults are considered in the study. Then, an adaptive adjustment signal is introduced into prescribed performance function to enhance the robustness, thereby improving its control performance. Moreover, a finite-time radial basis function neural network disturbance observer is constructed to deal with the unknown nonlinear terms caused by faults. Finally, simulation results verify the effectiveness of the proposed control scheme.