Prescribed-Time Incremental FTC for UHs

The development of effective formation control strategies for UHs must account for their complex dynamic interactions, demanding mechanical characteristics, and operationally challenging environments. These requirements motivate the design of adaptive, resilient control systems capable of real-time implementation. This investigation presents an IFASA-based prescribed-time control framework that simultaneously compensates for multiple fault modes, including sensor malfunctions and swash plate strut anomalies. Our methodology begins with a comprehensive UH dynamic model incorporating four critical components: aerodynamic effects, blade flapping dynamics, swash plate behavior, and actuator fault patterns. The control architecture features two key innovations: first, an IFASA-driven prescribed-time attitude controller that maintains tracking performance despite actuator faults, aerodynamic disturbances, cross-coupling effects, and nonlinearities; second, a distributed formation control system integrating a fault-estimation observer for sensor fault compensation. The complete system incorporates a novel Task-Fault adaptive parameter scheduling mechanism that ensures timely activation of prescribed-time control actions. Theoretical analysis using Lyapunov stability methods formally verifies the prescribed-time convergence properties of the proposed control scheme.