Fixed-Time Prescribed Performance FTC for UHs
摘要
This chapter focuses on achieving fault-tolerant formation-containment control with fixed-time and prescribed-time performance for UHs, while incorporating functionalities for both obstacle and inter-agent collision avoidance. The chapter begins by formulating a HOFAS framework to capture the behavior of UHs under actuator malfunctions, encompassing both positional and attitudinal aspects of the system dynamics. Building upon the null space-based approach, the motion planning for multiple UHs is organized into three essential components: collision avoidance, obstacle avoidance, and cooperative flight.