Distributed Finite-Time Formation Control of Multi-Quadrotor Based on Leader-following Structure

This paper studied the problem of leader-following formation tracking control for multiple quadrotor unmanned aerial vehicles (UAV). The control object is to maintain the positions of follower quadrotors in formation with external disturbances and inner model parameter uncertainty. At the same time, only part of quadrotor UAV is informed to have access to the leader's position. Firstly, a second order robust exact differentiator (2-RED) observer is proposed. By using continues high-order sliding mode technique, the output feedback controller is designed to position outer-loop based on the result of the outer-loop observer. Secondly, the output feedback controller and 2-RED observer are designed for attitude inner-loop. The finite-time stability of outer-loop and inner-loop controllers with observers are guaranteed through Lyapunov theories and homogeneity. Finally, numerical examples are presented to verify the developed algorithm.