Predefined-Time Fuzzy Control for Resilient Formation of Multi-QUAVs under Communication Link Faults

This article investigates adaptive fuzzy fault-tolerant formation control (FTFC) for multiple quadrotor unmanned aerial vehicles (multi-QUAVs) under predefined-time performance requirements. The problem formulation accounts for communication link faults and uncertain dynamic disturbances, which inevitably arise in complex multi-QUAV operational environments. To address these challenges, a distributed predefined-time observer compensating for communication link faults is suitably proposed, followed by design of an adaptive fuzzy formation control strategy, where a nonsingular terminal sliding mode (NTSM) technique is integrated to enhance the tracking performance with faster transient response, and adaptive fuzzy logic systems (FLSs) are then effectively utilized to generate online estimates of multi-QUAV states to ensure adaptability and robustness against uncertainties. Furthermore, a Lyapunov-based analysis is employed to verify the closed-loop system's ability to stabilize within a predefinedtime. Finally, numerical simulations and performance comparisons substantiate the proposed formation control scheme's effectiveness and practical utility.