Distributed Formation Control For Multi-Quadrotor System

In this paper, a distributed formation control protocol for a multi-quadrotor system is proposed. The nonlinear dynamic model and the communication model of the multi-quadrotor system are established first. Then, for the lower-level motion control of each quadrotor, the feedback linearization technique is employed. For the higher-level formation, we use a leader-follower structure. The formation control protocol based on the consensus theory and the observer technique are proposed to guide the follower quadrotors to their desired formation positions. The proposed protocol only requires the position information from neighbors. Finally, the simulation result shows that a fast-response and high-precision formation can be achieved by the proposed protocol.