@article{Li2025, 
author = {Wenjie Li and Xiangyong Chen and Ling Ji and Jinming Song and Shuo Li},
title = {Finite-time formation control for multi-agent systems with dynamic leader and input saturation},
year = {2025},
journal = {Electronic Research Archive},
volume = {33},
number = {12},
pages = {7699-7716},
keywords = {finite-time control, adaptive control, consensus tracking, dynamic leader, multi-agent systems, input saturation},
url = {https://www.sciopen.com/article/10.3934/era.2025340},
doi = {10.3934/era.2025340},
abstract = {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.}
}