Adaptive finite-time formation control for multi-quadrotor UAV systems

This paper addresses the formation control problem of multi-quadrotor UAV systems with uncertain system parameters and unknown external disturbances. An adaptive finite-time formation control algorithm based on the command-filtered backstepping control framework is proposed. By integrating finite-time control technique and RBF neural networks, the algorithm achieves estimation of system uncertainties and finite-time stability of closed-loop signals in the position and attitude loops, thus enabling efficient and reliable formation composition and maintenance. Finally, the effectiveness of the proposed algorithm is verified through a set of comparative simulation, demonstrating its ability to achieve high-precision tracking while attaining faster convergence rate.