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    Area of Science:

    • Robotics
    • Aerospace Engineering
    • Control Systems

    Background:

    • Distributed formation control is crucial for multi-agent systems like quadrotor aircraft.
    • Achieving coordinated movement and maintaining specific formations presents significant challenges.

    Purpose of the Study:

    • To develop a novel consensus formation control algorithm for multiple quadrotor aircraft in a leader-follower structure.
    • To ensure convergence to a desired formation pattern and attitude in finite time.

    Main Methods:

    • Nonsmooth backstepping design for consensus formation control.
    • Linear Quadratic Regulator (LQR) for position control subsystem design.
    • Finite-time control and switch control for attitude subsystem using unit quaternions.

    Main Results:

    • A formation control law was designed, ensuring quadrotor positions converge to the desired formation pattern.
    • A global bounded finite-time attitude tracking controller was developed for attitude stabilization.
    • Numerical simulations validated the convergence of all quadrotors to the desired 3D formation.

    Conclusions:

    • The proposed algorithm effectively achieves distributed formation control for multiple quadrotors.
    • The method guarantees finite-time convergence for both position and attitude.
    • This research contributes to advanced control strategies for autonomous aerial systems.