Distributed Nussbaum-Based Finite-Time Containment Control for Multi-UAVs With Actuator Saturation and Faults

This article devotes to addressing the distributed adaptive finite-time containment control for the multi-UAVs with actuator saturation, faults, and external disturbances. A hyperbolic tangent function is presented to smooth the symmetric and asymmetric saturation functions. Then, the containment control for UAVs with actuator saturation and faults can be turned into a variable gain control problem. To address this problem, a Nussbaum function is specially designed in this article to solve the variable gain issue with the known control direction. Besides, the bounds of disturbances are estimated and compensated by adaptive laws. With the presented containment control laws, the follower UAVs will converge into the convex hull spanned by the leaders in a finite time. Finally, the convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.