Distributed Finite-Time Fault-Tolerant Control Based on Command Filtered Backstepping for Multiple Fixed-Wing Unmanned Aerial Vehicles

This paper is concerned with the distributed finite-time formation strategy for fixed-wing unmanned aerial vehicles subject to uncertainties, disturbances and actuator faults. A finite-time control scheme based upon command filtered backstepping is proposed and an error compensation system is constructed to attenuate influences caused by filtering errors. Radial basis function neural network is exploited to approximate uncertainties. Furthermore, to solve the adverse effects due to actuator faults, the adaptive law is utilized to estimate partial loss of effectiveness. In addition, a Lyapunov-based stability is analyzed to demonstrate that tracking errors are finite-time convergent. Ultimately, simulation results are given to validate that our proposed strategy can achieve excellent performance.