Finite-time Formation Tracking Control for Quadrotor UAVs Based on Fast Non-singular Terminal Sliding Mode

In this paper, a finite-time formation tracking control problem is studied for multiple quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbance forces and disturbance torques, simultaneously. Firstly, two sliding mode technique based finite-time disturbance observers are designed for position and attitude loops to estimate external disturbance forces and disturbance torques, respectively. Then, utilizing the precise estimation information, a finite-time position formation tracking controller and a finite-time attitude formation tracking controller are proposed via fast non-singular terminal sliding mode method to compensate for external disturbances. And it achieves that all the quadrotor UAVs can form desired formation as well as track desired trajectory in finite time. By using the Lyapunov stability analysis, the entire formation tracking closed-loop system is fast finite-time stable. Finally, a numerical simulation example for a group of quadrotor UAVs is employed to verify the effectiveness of the proposed formation tracking control approach.