Decentralized Finite-Time Attitude FTCC of Multi-UAVs with Prescribed Performance

Recently, numerous results have been obtained on the cooperative control of multi-UAVs. In Yun et al. (A leader-follower formation flight control scheme for UAV helicopters, in International Conference on Automation and Logistics, Qingdao; 2008), a leader–follower configuration was adopted to navigate the UAVs to follow certain trajectories, while maintaining a fixed geometrical formation. Specifically, the leading UAV tried to fly on some predefined trajectories and each follower UAV maintained its position relative to the leading UAV, and this cooperative control manner can be seen as the centralized method. With such a method, all follower UAVs need to communicate with the leading UAV and may lose stability if the communication links between follower UAVs and the only one leading UAV encounter breakdowns. In order to improve the communication robustness in formation flight, decentralized control methods are employed in the cooperative control of multi-UAVs.