Formation Tracking for Multiple Quadrotor Based on Sliding Mode and Fixed Communication Topology

In this paper, the consensus and formation tracking control for multiple quad rotors are discussed. The dynamic model of the quad rotor is presented using the Newton-Euler formalism. Because the presence of the external disturbance in the quad rotor dynamic model, the design of the control law is Based on sliding mode control combined with fixed communication topology. With a good choice of parameters in the control law, the consensus and formation tracking are asymptotically achieved and the external disturbance is rejected. The system stability analysis is conducted through the Lyapunov theory and asymptotic tracking stability is demonstrated. The analytic results are supported by simulation tests.