Distributed Finite-Time Formation Control of Quadrotors with Directed Topology^*

This paper investigates the finite-time formation control problem of multiple quadrotor systems with directed communication interactions. A distributed control approach is developed based on the consensus theory and the finite-time Lyapunov theorem along with the technique of non-Lipschitz control. The proposed controller has two levels in the sense of an outer loop for formation tracking of all quadrotors and an inner loop for attitude stabilization of each quadrotor. It is shown that a desired geometric structure can be maintained while attitude convergence to the desired values can be achieved within finite time. Finally, the effectiveness of the proposed control approach is verified with simulation results.