Event-triggered Finite-time Formation Control for Multiple Unmanned Aerial Vehicles with Input Saturation

Considering formation control of multi-UAV system subject to input saturation, the issue of achieving predefined configuration in a distributed finite-time event-triggered scheme is investigated. Precise feedback linearization based on differential geometry theory is utilized to linearize the nonlinear motion model of unmanned aerial vehicles. A fixed-time convergent observer is skillfully constructed to estimate the leader’s velocity information with accuracy and quickness. A novel distributed event-triggered finite-time formation control protocol incorporated by saturation functions is proposed to achieve the desired formation in finite time. An estimation of the finite-settling time is conducted by subtly constructing the Lyapunov function. Rigorous proof shows the finite-time stability of the formation control algorithm, boundedness of the control inputs and non-existence of the unexpected Zeno behavior. Numerical simulations are performed to demonstrate the effectuality of the theoretical results.