Distributed finite‐time formation of networked nonlinear systems via dynamic gain control

Abstract

AbstractThis paper considers a finite‐time formation control problem of networked nonlinear systems with uncertain dynamics. A distributed control approach is developed based on the consensus theory and the finite‐time Lyapunov theorem along with the technique of dynamic gain control. Auxiliary dynamics are constructed to facilitate the design of finite‐time Lyapunov. It is shown that followers can form the desired geometric pattern within finite time and track a featured trajectory given by the leader via the proposed controller, and the potential controller singularity problem resulted from the introduction of the auxiliary dynamics can be circumvented. One of the key features of the proposed control approach is that fractional powers of system states, which are required in most existing finite‐time control approaches, are removed. Finally, the effectiveness of the proposed control approach is verified with a simulation example on quadrotor formation.