Fixed-Time Prescribed Performance Formation Control for Heterogeneous UAV–UGV Systems With Velocity Estimation and Dynamic Event-Triggering

In this paper, the adaptive formation control problem is investigated for heterogeneous unmanned aerial vehicle and unmanned ground vehicle (UAV-UGV) systems with partial unknown states. Initially, a fixed-time fuzzy state observer is designed to estimate the unknown position and angular velocities. Furthermore, given that the controller design process may be limited by the initial condition, a fixed-time command filter is devised. Then, a performance function is introduced to make the synchronization errors converge to the prescribed performance confines. Moreover, by integrating a dynamic event-triggered mechanism into the adaptive formation control algorithm, a fixed-time adaptive control strategy with dynamic event-triggered is established. It is strictly proved that all closed-loop signals are fixed-time bounded, and the tracking errors converge to any arbitrarily small neighborhood of the origin within the predefined performance bounds. Finally, numerical simulations are given to demonstrate the efficiency of the proposed method.