Event-Triggered Finite-Time Sliding-Mode Fault-Tolerant Containment Control of Multi-UAVs with Actuator Faults

In this paper, an event-triggered finite-time sliding-mode fault-tolerant containment control method is proposed for multiple unmanned aerial vehicles (multi-UAVs). In the control scheme, an event-triggered communication mechanism is used to reduce the communication frequency. To access the reference information, a sliding-mode observer is developed for facilitating the controller design. Then, a finite-time sliding-mode method and a finite-time disturbance observer are employed to track the desired reference signals. Moreover, the Lyapunov method is employed to prove the system’s stability. Zeno behavior is excluded by relevant analysis. Finally, a simulation is conducted to prove the effectiveness of the fault-tolerant control method.