Fixed-Time Multi-UAV Collaborative Fault-Tolerant Formation Control for Sensor/Actuator Faults

In this research, a fixed-time cooperative fault-tolerant control (CFTC) protocol for multiple unmanned aerial vehicles (UAVs) formation is proposed. First, the assumption that faults are bounded is removed. A fixed-time observer (FTO) is utilized to estimate the pitot tube and actuator faults, which ensures that the estimation errors of the faults converge in a fixed time. Second, the norm-normalized sign function (NNSF) is introduced to make the control output change smoother and reduce the influence of faults, while simplifying the proof process. Finally, numerical simulations demonstrate the superior performance of the proposed CFTC compared to the existing work.