Finite-Time Asynchronous Event-Triggered Formation of UAVs with Semi-Markov-Type Topologies

In this paper, the finite-time formation problem of UAVs is investigated with consideration of semi-Markov-type switching topologies. More precisely, finite-time passivity performance is adopted to overcome the dynamical effect of disturbances. Furthermore, an asynchronous event-triggered communication scheme is proposed for more efficient information exchanges. The mode-dependent formation controllers are designed in terms of the Lyapunov–Krasovskii method, such that the configuration formation can be accomplished. Finally, simulation results are given to demonstrate the validity of the proposed formation approach.