This paper addresses the distributed adaptive finite-time containment control problem in multi-leader UAV formations with actuator failures, limited communication, and external disturbances. A two-channel dynamic event-triggered strategy based on adaptive and sliding mode control is proposed as a containment control scheme, which solves the contradiction between the need to include containment error in the continuous term of the sliding mode surface in the adaptive law and the discontinuity of the communication between neighboring subsystems (follower UAVs) by constructing intermediate variables. Unlike the traditional event triggering condition that can only be applied to asymptotically convergent systems, the dynamic triggering condition designed in this paper, based on auxiliary variables, hyperbolic tangent function, and adaptive techniques, realizes finite-time convergence during the adjustment of the system and sets a more reasonable lower limit for the triggering thresholds, thus further reducing the communication frequency and ensuring the finite-time convergence of the system. The stability of the closed-loop system can be proved by the Lyapunov theorem. Zeno behavior can be avoided. The simulation results verify the effectiveness of the developed control algorithm.

中文翻译：

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用于多导无人机编队的分布式双通道动态事件触发自适应有限时间容错遏制控制


本文解决了多导头无人机编队中具有致动器故障、通信受限和外部干扰的分布式自适应有限时间遏制控制问题。该文提出一种基于自适应和滑模控制的双通道动态事件触发策略作为遏制控制方案，通过构建中间变量，解决了在自适应定律中滑模面连续项中需要包含遏制误差与相邻子系统（跟随无人机）之间通信不连续之间的矛盾。与传统的只能应用于渐近收敛系统的事件触发条件不同，本文设计的动态触发条件基于辅助变量、双曲正切函数和自适应技术，在系统调整过程中实现了有限时间收敛，并为触发阈值设定了更合理的下限，从而进一步降低了通信频率，保证了系统的有限时间收敛。 闭环系统的稳定性可以用 Lyapunov 定理来证明。可以避免 Zeno 行为。仿真结果验证了所提控制算法的有效性。