Cooperative group formation control for multiple quadrotors system with finite- and fixed-time convergence

A multitude of quadrotors cooperatively executing complicated tasks in predefined geometric configurations has attracted arising attention. Accurate and effective formation control laws are essential for completing missions. Finite- and fixed-time group formation control problems for multiple quadrotors are researched in this paper. The quadrotors are first divided into M distinct and non-overlapping subgroups. In each subgroup, quadrotors are driven to form the predefined configuration, with the whole achieving M-group formation meanwhile. Two distributed algorithms for multiple quadrotors system are then designed to realize finite- and fixed-time group formation. Detailed and theoretical analysis of finite- and fixed-time group formation formability is conducted. Sufficient conditions are provided by utilizing the Lyapunov stability and bi-limit homogeneity theory. Two simulations are carried out to verify the effectiveness of proposed algorithms.