Distributed two-channel dynamic event-triggered adaptive finite-time fault-tolerant containment control for multi-leader UAV formations

This paper addresses the distributed adaptive finite-time containment control problem in multi-leader UAV formations with actuator failures, limited communication, and external disturbances. A two-channel dynamic event-triggered strategy based on adaptive and sliding mode control is proposed as a containment control scheme, which solves the contradiction between the need to include containment error in the continuous term of the sliding mode surface in the adaptive law and the discontinuity of the communication between neighboring subsystems (follower UAVs) by constructing intermediate variables. Unlike the traditional event triggering condition that can only be applied to asymptotically convergent systems, the dynamic triggering condition designed in this paper, based on auxiliary variables, hyperbolic tangent function, and adaptive techniques, realizes finite-time convergence during the adjustment of the system and sets a more reasonable lower limit for the triggering thresholds, thus further reducing the communication frequency and ensuring the finite-time convergence of the system. The stability of the closed-loop system can be proved by the Lyapunov theorem. Zeno behavior can be avoided. The simulation results verify the effectiveness of the developed control algorithm.