Completely Distributed Time-Varying Formation Target Tracking for Quadrotor Team via Image-Based Visual Servoing

In this article, the completely distributed adaptive time-varying formation target tracking control problem for quadrotor team via image-based visual servoing is addressed. An adaptive cascade formation controller is proposed, which consists of a trajectory tracking controller, an attitude controller, and an image-based visual servoing controller. All the controllers consist of a nominal part to achieve the desired performance and a robust part to retrain the influence of parameter uncertainties and external disturbance. The robust properties of the closed-loop control system are proven via the theoretical analysis. Moreover, the simulation results validate the effectiveness of the proposed formation tracking control protocol in this paper.