Fast Finite-Time Formation Control of UAVs With Multiple Loops and External Disturbances

This paper investigates the problem of fast finite-time (FFT) formation control for a group of unmanned aerial vehicles (UAVs) with multiple loops and external disturbances. Unlike previous work on finite-time (FT) formation control, our aim is to achieve a faster response for UAVs. To consider the influence of non-periodic constant disturbances, we designed a new fast finite-time extended state observer (FFTESO) in the observer loop to estimate and actively reject disturbances. We use the “Divide and Conquer” concept to provide FFT stability conditions for multiple loops, including the observer loop, the control loop, and the guidance loop. An obstacle avoidance algorithm is also introduced to ensure UAVs safety while achieving the desired formation. Finally, simulation results involving two cases are provided to demonstrate the effectiveness and merits of our proposed FFT formation control method.