带 有 输 入 受 限 的 无 人 机 精 确 编 队 合 围 容 错 控 制

To solve the problem of containment control for precise formation of UAVs with input saturation and actuator failure，a communication topology design algorithm based on containment control architecture and a distributed adaptive finite-time fault-tolerant control algorithm based on Nussbaum function are proposed. The combination of the two algorithms overcomes the defect that the existing containment control cannot make the followers converge to the pre-defined formation. Firstly，using the knowledge of convex figures and communication topology of containment control，a communication topology design algorithm is proposed to make followers form precise formation. Secondly，by utilizing a novel hyperbolic tangent function to smooth the constrained input，the containment control issue for UAVs with input saturation and actuator fault can be turned into a variable gain control problem. Then，the Nussbaum-based control algorithm is utilized to solve the issue. Finally，the finite-time convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.