Finite-time formation control for multi-agent systems with dynamic leader and input saturation

Wenjie Li; Xiangyong Chen; Ling Ji; Jinming Song; Shuo Li; Wenjie Li; Xiangyong Chen; Ling Ji; Jinming Song; Shuo Li

doi:10.3934/era.2025340

Electronic Research Archive

2025, Volume 33, Issue 12: 7699-7716. doi: 10.3934/era.2025340

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Finite-time formation control for multi-agent systems with dynamic leader and input saturation

1.
School of Automation and Electrical Engineering, Linyi University, Linyi 276005, China
2.
School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China
3.
School of Logistics, Linyi University, Linyi 276005, China

Received: 04 November 2025 Revised: 06 December 2025 Accepted: 15 December 2025 Published: 22 December 2025

In this paper, the problem of finite-time control for a group of quadrotor aircraft with an unknown input-saturation structure is investigated. Based on backstepping design, finite-time formation control algorithm is designed. Within the multi-agent systems, leaders are tasked with achieving formation consensus with an external leader. Concurrently, for the followers, a leader-follower consensus controller incorporating the dynamic leader's input is developed utilizing adaptive strategies and low-gain techniques. Thus, a hierarchical formation is achieved where leaders track the exogenous leader, followers maintain consensus with their leaders, accomplishing complex multi-unmanned aerial vehicle formation tasks.
- finite-time control,
- adaptive control,
- consensus tracking,
- dynamic leader,
- multi-agent systems,
- input saturation
Citation: Wenjie Li, Xiangyong Chen, Ling Ji, Jinming Song, Shuo Li. Finite-time formation control for multi-agent systems with dynamic leader and input saturation[J]. Electronic Research Archive, 2025, 33(12): 7699-7716. doi: 10.3934/era.2025340

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Abstract

In this paper, the problem of finite-time control for a group of quadrotor aircraft with an unknown input-saturation structure is investigated. Based on backstepping design, finite-time formation control algorithm is designed. Within the multi-agent systems, leaders are tasked with achieving formation consensus with an external leader. Concurrently, for the followers, a leader-follower consensus controller incorporating the dynamic leader's input is developed utilizing adaptive strategies and low-gain techniques. Thus, a hierarchical formation is achieved where leaders track the exogenous leader, followers maintain consensus with their leaders, accomplishing complex multi-unmanned aerial vehicle formation tasks.

References

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