Finite time formation control for multi-agent systems with event-triggered control scheme

In this paper, finite time formation control problems with fixed topology and switching topologies are addressed. To reduce unnecessary energy consumption and frequency of con-troller’s update, a distributed finite time consensus algorithm is designed by employing event-triggered control and a triggering function is constructed. Rigorous proof is given by Lyapunov stability theory and finite time stability theory. Zeno behavior does not exist by using the proposed algorithm. Moreover, on the basis of the finite-time consensus algorithm, a finite-time formation control algorithm is designed, which can control a group of agents to track the leader and maintain the formation shape. By utilizing feedback linearization, the model of unmanned aerial vehicle is transformed into an accurate linearization model. Finally, application into unmanned aerial vehicle formation control is given to demonstrate the effectiveness of results.