Distributed Finite-time Formation Control for Multiple Quadrotors with Leader State Unmeasurable

This paper investigates finite-time formation tracking control problem for multiple quadrotors when the reference signal of the leader is not available to all the followers. In accordance with the multiple-timescale features, the dynamic model of quadrotor is divided into position subsystem and attitude subsystem. Firstly, distributed finite-time observers are designed to estimate the relative state errors between followers and the leader. Through Lyapunov theories, it is shown that the proposed observers can achieve finite-time stability. Secondly, based on the values of the observers, finite-time formation control algorithms including finite-time position controller and attitude controller are designed respectively. Thirdly, the finite-time stability analysis of the control algorithms is carried out using Lyapunov theory. Finally, simulation results are provided to validate the effectiveness of these theoretical results.

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