Finite-time fault-tolerant auxiliary containment control for multi-UAV systems with input magnitude and rate saturation

In this paper, the finite-time fault-tolerant containment control for multiple unmanned aerial vehicle (UAV) systems is proposed. Unlike most existing studies that mainly address input magnitude saturation while neglecting rate constraints, a first-order dynamic system is incorporated to generate control inputs subject to both magnitude and rate saturation. Furthermore, a novel auxiliary system and a controller-coupled neural network observer are developed to compensate for the insufficient input signal and estimate the unknown dynamics caused by faults, respectively. Finally, by integrating the observer and auxiliary system, a fault-tolerant finite-time containment controller is constructed, and the effectiveness is validated through hardware-in-the-loop simulations.