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The case of both actuator and sensor attacks is considered simultaneously, and the multi-UAV can exchange the information through a directed communication network. A fuzzy adaptive observer (FAO) is first proposed to estimate the FDI attacks and the unmeasurable velocity information for each UAV. In order to transform the formation control of heterogeneous multi-UAV into a trajectory tracking control problem of individual UAVs, a bank of distributed estimators is designed to achieve the leader\u2019s states by only using local information among neighboring UAVs. Then, by incorporating a novel tracking error transform method and fractional-order sliding mode control technique, a resilient prescribed performance tracking controller without velocity measurements is constructed. Furthermore, it is proved that all signals of the closed-loop formation control systems are uniformly ultimately bounded (UUB) stable under FDI attacks. Finally, the simulation results are given to verify the effectiveness and superiority of the proposed control strategy.<\/jats:p>","DOI":"10.1177\/01423312221125967","type":"journal-article","created":{"date-parts":[[2022,10,12]],"date-time":"2022-10-12T06:25:51Z","timestamp":1665555951000},"page":"1021-1036","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Fuzzy adaptive observer\u2013based resilient formation control for heterogeneous multiple unmanned aerial vehicles with false data injection attacks and prescribed performance"],"prefix":"10.1177","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3453-0670","authenticated-orcid":false,"given":"Bing","family":"Han","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 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