Adaptive Finite-Time Control for Formation Tracking of Multiple Nonholonomic Unmanned Aerial Vehicles with Quantized Input Signals

<div>Parameter estimations in the multi-UAV system with logarithmic quantizer (<a href="https://static.hindawi.com/articles/mpe/volume-2018/3528092/figures/#EEq42">42</a>). (a) Estimations of unknown parameters, (b) estimations of unknown disturbances.</div>

Mathematical Problems in Engineering

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Figure 8: Adaptive Finite-Time Control for Formation Tracking of Multiple Nonholonomic Unmanned Aerial Vehicles with Quantized Input Signals 