Distributed Practical Finite-Time Formation Control of Quadrotor UAVs Based on Finite-Time Event-Triggered Disturbance Observer

In this article, a finite-time event-triggered disturbance observer (FTETDO) is first designed to handle external disturbance of multiple quadrotor UAVs (QUAVs). The designed FTETDO can effectively reduce update number of observer and the estimation error achieves practical finite-time stability without Zeno behavior. Then a distributed finite-time tracking control strategy is proposed to realize the practical finite-time stability of multiple QUAVs formation. In order to overcome the computational explosion problem, the finite-time filter is employed and the error compensation mechanism is developed to eliminate the influence of filter error on tracking error. Based on the Lyapunov theory, it is proved that the designed control strategy can guarantee practical finite-time stability of the closed-loop system. Finally, simulation is carried out to testify the efficiency of the developed control scheme.