Anti-Disturbance Formation Control of Quadrotor UAVs Based on Terminal Sliding Mode Control

In this paper, the anti-disturbance formation flight control of quadrotor UAVs system is realized based on terminal sliding mode control. The generalized error state is designed for each quad-rotor UA V, based on which the formation control target is proposed. In order to achieve the goal of anti-disturbance formation control, a formation controller based on terminal sliding mode control is designed. Finally, the general error states of all quadrotor UAVs converge to zero to achieve the desired formation. Finally, a simulation example is given to verify the effectiveness of the proposed algorithm.