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Abstract
This paper addresses the formation control system for multi-quadcopter UAVs, proposing a control strategy based on finite-time stability theory. It designs position controllers with a dual power structure and attitude controllers combined with non-singular terminal sliding mode to achieve fast convergence and high-precision tracking. Through Lyapunov stability analysis, the paper proves the finite-time convergence of the control strategy. Simulation experiments validate the method's excellent performance in formation establishment, maintenance, and complex trajectory tracking, demonstrating rapid convergence, high precision, and strong disturbance rejection capabilities. This research provides theoretical and technical support for cooperative control of multi-quadcopters.
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