In this paper, the finite-time formation problem of UAVs is investigated with consideration of semi-Markov-type switching topologies. More precisely, finite-time passivity performance is adopted to overcome the dynamical effect of disturbances. Furthermore, an asynchronous event-triggered communication scheme is proposed for more efficient information exchanges. The mode-dependent formation controllers are designed in terms of the Lyapunov-Krasovskii method, such that the configuration formation can be accomplished. Finally, simulation results are given to demonstrate the validity of the proposed formation approach.
Keywords: UAVs; event-triggered formation; finite-time formation; semi-Markov topologies.