Fuzzy adaptive active disturbance rejection control incorporating HiTL for fractional-order multiagent formation under sensor failures

This paper addresses the challenging formation control problem for fractional-order multiagent systems (FOMASs) subject to both external disturbances and sensor failures. A key innovation of this work is the development of a novel adaptive fuzzy active disturbance rejection control scheme that seamlessly integrates a human-in-the-loop (HiTL) strategy. Unlike conventional methods that address disturbances and sensor failures separately, a novel extended state observer capable of simultaneously estimating unknown sensor failure coefficients and total disturbances is designed in real-time within a unified framework. Furthermore, to overcome the “complexity explosion” inherent in backstepping designs, an improved fractional-order tracking differentiator based on an inverse hyperbolic tangent function is introduced offering more flexible and precise transient performance. Significantly, this work represents the first application of HiTL control to the FOMASs domain, leveraging human intelligence to enhance system security and adaptability. The proposed controller guarantees that all signals in the closed-loop system are semi-globally uniformly ultimately bounded. Simulation results on an unmanned aerial vehicle formation task validate the effectiveness and superiority of the proposed approach.