Distributed fixed-time leader-following formation control for multi-quadrotors with prescribed performance and collision avoidance

This paper investigates the distributed fixed-time formation control problem for the multi-quadrotor systems with prescribed performance. Firstly, the distributed fixed-time estimators are proposed to accurately estimate the position and velocity information of the leader. Subsequently, the estimator-based position tracking control protocol and attitude controllers are presented, wherein the prescribed performance control technique is utilized. In order to tackle the difficulty of pre-assigning the settling time of the system, a prescribed-fixed-time formation control protocol is proposed to track the desired trajectories and maintain desired patterns. The stability of the system is guaranteed and collision avoidance among agents is maintained through the implementation of modified hyperbolic cotangent functions and the repulsive potential functions. Finally, numerical simulations are performed to show the efficiency of the proposed scheme.