Formation Control for Multiple Quadrotor Aircraft via Fixed-time Consensus Algorithm

This paper mainly studies the formation control problem of multiple quadrotor aircraft via fixed-time control theory. First, based on the bilimit homogeneous theory and the framework of multiagent theory, for multiaircraft, a fixed-time formation control strategy is proposed. Considering the external disturbance existing on the attitude loop of the aircraft, the corresponding fixed-time disturbance observer is designed with the observer technology. Then, a fixed-time attitude controller is designed based on the accurate observation and fast compensation from the disturbance observer. Finally, some simulations are performed to verify the effectiveness of the proposed theoretical method.