Finite-time formation control for multi-agent systems with dynamic leader and input saturation

In this paper, the problem of finite-time control for a group of quadrotor aircraft with an unknown input-saturation structure is investigated. Based on backstepping design, finite-time formation control algorithm is designed. Within the multi-agent systems, leaders are tasked with achieving formation consensus with an external leader. Concurrently, for the followers, a leader-follower consensus controller incorporating the dynamic leader's input is developed utilizing adaptive strategies and low-gain techniques. Thus, a hierarchical formation is achieved where leaders track the exogenous leader, followers maintain consensus with their leaders, accomplishing complex multi-unmanned aerial vehicle formation tasks.