In contrast with most existing results concerning unmanned aerial vehicles (UAVs) wherein two-degree or only attitude/longitudinal dynamics are considered, this article proposes an event-triggered cooperative synchronization fault-tolerant control (FTC) methodology for multiple fixed-wing UAVs whose dynamics are six-degree-of-freedom (DOF) with twelf-state-variables subject to actuator faults, modeling uncertainties, and external disturbances. More precisely, an event-triggering mechanism is devised to determine the time instants of updating control signals, which reduces the signal transmission burden, while saving on system resources. The Zeno phenomenon is excluded in the sense of guaranteeing that the time between two consecutive switchings is lower bounded by a positive constant. The actuator faults as well as the network induced errors are handled via the bound estimation approach and some well-defined smooth functions. By strict Lyapunov arguments, all closed-loop signals are proved to be semi-globally uniformly ultimately bounded (SGUUB) and the synchronization tracking errors of speed and attitude converge to a residual set around origin whose size can be made arbitrarily small through selecting appropriate design parameters.

In this paper, the finite-time tracking control problem of a class of multi-agent systems with nonaffine functions and uncertain nonlinearity is investigated, which is different from the existing on high-order multi-agent systems with pure feedback forms. The multi-agent systems considered in this paper, moreover, the nonaffine functions and uncertain nonlinearities are completely unknown, and the input of each follower agent is quantized through a hysteresis quantizer. Based on the help of the fuzzy logic systems approximator, an adaptive fuzzy finite-time tracking control protocol with adaptive update laws is presented by the backstepping technique. On the basis of the finite-time stability strategy and Bhat and Bernstein theorem, the finite-time stability of designed control protocol is fully analyzed. Under the proposed control protocol, it is indicated that the tracking error of each follower agent can press on a small neighborhood in a finite time. Finally, the effectiveness of designed control protocol in this paper is analyzed by numerical examples.