Finite-time formation control for a group of quadrotor aircraft

In this paper, the problem of finite-time formation control for a group of quadrotor aircraft with a leader-follower structure is investigated. Based on backstepping design, finite-time formation control algorithms including finite-time position controller and attitude controller are designed respectively. By skillfully using homogeneous system theory and Lyapunov theory, the finite-time stability of the closed-loop systems is given and it is shown that the desired formation pattern and the desired trajectory can be achieved in a finite time under the proposed controllers. Finally, a simulation example is given to show that the efficiency of the proposed method.