Abstract: Safe formation control for foldable hypersonic morphing vehicles is investigated in this paper. With actuator saturation, faults, and external disturbances, a two-layer cooperative formation control scheme is established. Firstly, based on consensus theory, the formation task is divided into a position outer loop and an attitude in-ner loop. In the outer loop, a prescribed-time prescribed-performance function is introduced to constrain the position error, which forces it to reach a preset boundary within the specified time without overshoot. Conse-quently, both transient and steady-state formation performance is enhanced. Secondly, in the inner loop, an anti-saturation compensator is proposed to mitigate input limits, and the minimum fault effectiveness factor together with the disturbance bound is treated as a composite disturbance. A tan-barrier type Lyapunov func-tion is employed to derive an adaptive law that estimates the bound of composite disturbance online and bounded tracking of the outer-loop command is guaranteed. Furthermore, a dynamic event-triggered mecha-nism with an internal dynamic variable is proposed. The threshold is adjusted online, which preserves control accuracy while markedly reducing communication and computation loads. Thirdly, to accommodate aerody-namic variations caused by structural morphing, local controllers are allocated to each morphing subsystem, and overall stability of the resulting non-stationary switching system is rigorously proven through Lyapunov stability theory and the average dwell-time condition. The effectiveness of the proposed scheme is verified through numerical simulations.

Key words: hypersonic morphing vehicles, safe formation control, prescribed performance control, dynamic event-triggered, barrier Lyapunov function, average dwell time, fault-tolerant control