Dynamic Event-triggered Adaptive Prescribed-time Performance Synchronization Tracking Control for Multiple Fixed-wing UAVs

Jian-hua LU , Ze-hao YUAN , Ning WANG , Yang LIU , Mi TIAN

Science Technology and Engineering ›› 2026, Vol. 26 ›› Issue (11) : 4877 -4893.

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Science Technology and Engineering ›› 2026, Vol. 26 ›› Issue (11) : 4877-4893 DOI: 10.12404/j.issn.1671-1815.2504014
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Dynamic Event-triggered Adaptive Prescribed-time Performance Synchronization Tracking Control for Multiple Fixed-wing UAVs
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Abstract

Cooperative control of UAV(unmanned aerial vehicle) formations is critical for task execution. However, in complex environments with resource limitations and time constraints, UAV formation control faces significant challenges, as existing strategies often fail to balance resource efficiency and mission timeliness. addressing the prescribedtime control problem for a class of sixdegreeoffreedom multifixedwing UAV formations under resourcelimited conditions, an intelligent dynamic eventtriggered prescribedtime cooperative control strategy was proposed. First, based on a prescribedtime performance function, an adaptiveboundary prescribedtime performance function was designed. Combined with the backstepping method, the convergence time of the UAV system was predefined, and tracking errors were prevented from exceeding the performance boundaries due to external disturbances. Error transformation ensured that the initial error always remained inside the performance envelope. Second, for the velocity and attitude subsystems of fixedwing UAVs, a formation cooperative controller based on a dynamic eventtriggering strategy was designed. System stability was proved using Lyapunov theory, and a clock variable was introduced to guarantee a strictly positive lower bound on the interevent times, thereby avoiding Zeno behavior and effectively handling resource limits and external disturbances. Finally, the proposed strategy was applied to a mission scenario, and its performance was compared under different eventtriggering mechanisms. The effectiveness and superiority of the method are verified. Simulation and comparison results show that the proposed strategy not only ensures formation stability and accuracy but also significantly reduces communication and computation resource consumption, while exhibiting strong robustness against disturbances and achieving prescribedtime convergence. The approach thus provides a feasible and efficient solution for UAV formation cooperative control in resourceconstrained environments.

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fixed-wing unmanned aerial vehicle / unmanned aerial vehicle swarm / formation collaborative control / dynamic event-triggered strategy / prescribed-time control

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Jian-hua LU, Ze-hao YUAN, Ning WANG, Yang LIU, Mi TIAN. Dynamic Event-triggered Adaptive Prescribed-time Performance Synchronization Tracking Control for Multiple Fixed-wing UAVs. Science Technology and Engineering, 2026, 26(11): 4877-4893 DOI:10.12404/j.issn.1671-1815.2504014

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