Distributed Finite-Time FTCC of Multi-UAVs with Multiple Leader UAVs

To incorporate the distributed cooperative concept into the formation flight of UAVs, many results have been obtained (Ali et al. (Int J Artif Intell Appl 5(4), 2014)). As stated in Chap. 5 , if multiple leader UAVs are selected in the formation flight, the problem of containment control of multi-UAVs arises. Actually, it may be safer and easier for follower UAVs to avoid obstacles in the complex and hazardous environment only if the follower UAVs converge into the convex hull spanned by the leader UAVs. Recently, several results have been obtained to achieve the containment control of multi-UAVs by using a point-mass model (Han et al. (Asian J Control 19(3):1103–1113, 2017), Han et al. (J Frankl Inst 353(13):2929–2942, 2016)). To prompt the research progress of containment control for multi-UAVs, the inner dynamics should be further considered in the controller design, such that the actuator constraints and faults can be explicitly handled to make the containment control scheme practical for multi-UAVs.