Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5472770 | Aerospace Science and Technology | 2017 | 12 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Aerospace Engineering
Authors
Haibo Du, Wenwu Zhu, Guanghui Wen, Di Wu,