This paper investigates a distributed adaptive finite‐time containment control scheme for multiple unmanned aerial vehicles subject to external disturbances and input saturation. Combined with a novel indicator of the saturation degree designed by the hyperbolic tangent function, an adaptive method is proposed to deal with the input saturation issue, which considers both symmetry and asymmetry saturation. Moreover, to address the problem of the “explosion of terms” inherent in the traditional backstepping controller design, a fixed‐time sliding mode differentiator is utilized to approximate the derivative of the virtual signal in the command‐filtered backstepping method. Finally, the convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.

中文翻译：

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输入饱和的多无人机分布式有限时间反步自适应遏制控制

本文研究了一种针对受外部干扰和输入饱和影响的多架无人机的分布式自适应有限时间遏制控制方案。结合双曲正切函数设计的新型饱和度指标，提出了一种同时考虑对称性和非对称性饱和度的自适应方法来处理输入饱和度问题。此外，为了解决传统反步控制器设计中固有的“项爆炸”问题，在命令滤波反步方法中利用固定时间滑模微分器来逼近虚拟信号的导数。最后，通过Lyapunov稳定性分析和数值模拟验证了误差的收敛性和控制律的实用性。