Finite-Time Formation of Unmanned Aerial Vehicles with Switching Topologies and Disturbances: An Average Dwell Time Approach

Algorithm 1

FTBF algorithm.

Input: A, B,

Output:

1: Given constants α_σ(t)> 0, β_σ(t)> 0, μ > 1, , κ_1i> 0, κ_2i> 0;

2: Configure the formation centre by A + BK_1σ(t) with desired eigenvalues;

3: Obtaining M_σ(t) by Lσ(t) = Mσ(t)E;

4: Solving the LMIs in Theorem 4;

5: Obtaining feasible solutions of and W_2σ(t);

6: Obtaining the total dwell time of the unachievable topologies T⁺;

7: return .