Nussbaum-based finite-time containment control for multi-UAVs with input saturation and velocity constraints

This paper devotes to addressing the finite-time containment control for the multi-UAVs with input saturation and velocity constraints. A novel smooth function is presented to estimate the saturation function with adjustable estimate errors. By utilizing the mean-value theorem, the containment control for UAVs with input saturation can be turned into a variable gain control problem. To address this issue, the Nussbaum-based method is used to design the controller in this paper. Besides, based on the backstepping method, the controller can constrain the velocity states of UAVs within a desired time-varying asymmetric region by limiting the values of virtual velocity commands and the Lyapunov function. Finally, the finite-time convergence of the errors and the practicability of the control law are verified by Lyapunov stability analysis and numerical simulations.