Adaptive distributed finite-time formation control for multi-UAVs under input saturation without collisions

This paper devotes to addressing the adaptive distributed finite-time formation control problem for multi-UAVs with collision avoidance and input saturation. By combining the formation reconstruction algorithm designed in this paper, the novel adaptive finite-time control law that utilizes the nonlinear mapping technology and prescribed performance control can limit the UAVs in the specified region to avoid collisions between each other. Moreover, an improved auxiliary dynamic system governed by hyperbolic functions is constructed to address the input saturation problem, while promoting to achieve the finite-time convergence of tracking errors. Finally, the convergence of the error systems and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.