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In this paper, the robust formation control problem is investigated for a group of quadrotors. Each quadrotor dynamics exhibits the features of underactuation, high nonlinearities and couplings, and disturbances in… Click to show full abstract
In this paper, the robust formation control problem is investigated for a group of quadrotors. Each quadrotor dynamics exhibits the features of underactuation, high nonlinearities and couplings, and disturbances in both the translational and rotational motions. A distributed robust controller is developed, which consists of a position controller to govern the translational motion for the desired formation and an attitude controller to control the rotational motion of each quadrotor. Theoretical analysis and simulation studies of a formation of multiple uncertain quadrotors are presented to validate the effectiveness of the proposed formation control scheme.
Journal Title: IEEE Transactions on Cybernetics
Year Published: 2020
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