Distributed Adaptive Finite-Time Formation Control of Multiple UAV Helicopter System

This paper investigates distributed finite-time formation control (FFDFC) with local information change for multiple unmanned aerial vehicle (UAV) helicopter system with disturbances. The UAV helicopter system is composed by position outer-loop and attitude inner-loop. We introduce an adaptive finite-time formation controller that takes into account motions of the information states. Unlike the existing distributed protocols, we show that the finite-time convergence properties is proved by Lyapunov theory. Moreover, the control algorithm removes the global information that needs to be known by each follower in advance in many references. Simulation results are presented to demonstrate the efficiency of the designed strategy.

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