Finite-time consensus control for a group of quadrotor aircraft
Haibo Du, Jun J. Zhang, Wenwu Zhu, Di Wu · 2017
This paper investigates the finite-time consensus tracking problem for a group of quadrotor aircraft with a leader-follower structure. Based on finite-time algorithms, the finitetime position controller and attitude controller are designed respectively in this note. Based on homogenous system theory and Lyapunov theory, the finite-time stability of the closed-loop systems is given and it is shown that the desired leader's trajectory can be tracked in a finite time. Finally, Simulation result is presented to show the efficiencies of the given consensus algorithm.