Distributed Fault-Tolerant Time-Varying Formation Control for Multiple UAVs and UGVs under Directed Topologies

In this article, the distributed fault-tolerant time-varying formation control (FTTVFC) strategy is presented for the heterogeneous multiple UAVs and UGVs subject to actuator faults and external disturbances with directed communication topologies. The FTTVFC scheme is presented by utilizing the adaptive updating gains, boundary layer theory and radial basis function neural networks. According to Lyapunov function method, the formation errors are uniformly ultimately bounded (UUB). Finally, the simulation results verify the efficiency of the designed scheme.