Quadrotors Finite-Time Formation by Nonsingular Terminal Sliding Mode Control with a High-Gain Observer

  • Jin Ke
  • Kangshu Chen
  • Jingyao WangEmail author
  • Jianping Zeng
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 891)


This paper investigates the distributed finite-time formation problem of quadrotors using the information of relative position only. A high-gain observer is constructed to estimate the relative velocity through the relative position. Based on the estimated relative velocity, nonsingular terminal sliding mode (NTSM) protocols are designed for followers. The control protocols for the position subsystem of quadrotors are developed by the combination of the isokinetic trending law and the idempotent trending law, which guarantees the realization of finite-time formation accurately and quickly in the presence of the bounded external disturbances and internal uncertainties. Moreover, an idempotent term is introduced to the attitude subsystem, which eliminates the chattering caused by the isokinetic trending law. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.


Quadrotors Finite-time formation High-gain observer Nonsingular terminal sliding mode control 



The authors would thank the National Natural Science Foundation of China (Grant No. U1713223 and 61673325) and the Chancellor Fund of Xiamen University (Grant No. 20720180090) for supporting this research.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Jin Ke
    • 1
  • Kangshu Chen
    • 1
  • Jingyao Wang
    • 1
    Email author
  • Jianping Zeng
    • 1
  1. 1.Xiamen UniversityFujianChina

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