Distributed Fuzzy Formation Control for Networked UAVs With Saturation Constraints in Resilient Prescribed Performance

This paper addresses the issue of distributed fuzzy fault-tolerant formation control (FTFC) for networked unmanned aerial vehicles (UAVs), considering the need for resilient prescribed performance under saturation constraints. First, an online self-organizing interval type-2 fuzzy neural network (OSITFNN) is developed to handle the compensation of unknown terms, which can adaptively update the network structure during the control process to obtain better dynamic mapping. Subsequently, a resilient prescribed performance function (RPPF) is designed for automatically scaling performance boundaries based on the saturation level of the control input, reducing the conflict between actuator saturation and performance constraints. This leads to the proposal of a distributed resilient fractional-order sliding mode FTFC (DRFTFC) scheme, ensuring stable formation control. The uncertain fuzzy network weights are compensated through a series of adaptive laws. Simulation results are provided to validate the effectiveness and robustness of the proposed control scheme.