Robust Formation Control for Multiple Quadrotors Subject to Nonlinear Dynamics and Disturbances
Hao Liu, Xiwang Dong, Frank L. Lewis, Yan Wan, Kimon P. Valavanis · 2018
In this paper, the robust formation control problem is dealt with for multiple unmnanned quadrotors, whose dynamics is subject to underactuation, nonlinearities, and external disturbances. A distributed robust controller is developed, which includes a position controller and an attitude controller. Simulation results of four quadrotors are given to show the effectiveness of the designed formation control protocol.