Finite-time formation control for multi-agent systems with dynamic leader and input saturation

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Abstract

In this paper, the problem of finite-time control for a group of quadrotor aircraft with an unknown input-saturation structure is investigated. Based on backstepping design, finite-time formation control algorithm is designed. Within the multi-agent systems, leaders are tasked with achieving formation consensus with an external leader. Concurrently, for the followers, a leader-follower consensus controller incorporating the dynamic leader’s input is developed utilizing adaptive strategies and low-gain techniques. Thus, a hierarchical formation is achieved where leaders track the exogenous leader, followers maintain consensus with their leaders, accomplishing complex multi-unmanned aerial vehicle formation tasks.

Keywords

finite-time control / adaptive control / consensus tracking / dynamic leader / multi-agent systems / input saturation

CHANGE HISTORY

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