Backstepping-Based Controller for Flight Formation
P. Flores-Palmeros, P. Castillo, Fernando Castaños · 2019
A Backstepping controller based on SE(3) for achieving multi-agents consensus and flight formation of a drones fleet is developed in this paper. The controller is obtained using the nonlinear model of the quadrotor and derived with virtual inputs to converge the fleet to desired references. The stability analysis of the controller is analyzed and proved with the Lyapunov theory. Emulations of the control algorithm are carried out for validating the well performance of the closed-loop system.