Multiple quadrotors flight formation control based on sliding mode control and trajectory tracking

In this paper, we propose the design of a Sliding mode control (SMC) for trajectory tracking and control formation based on leader follower principle of multiple unmanned aerial vehicles (UAV). SMC is chosen because is a robust method to control nonlinear systems, and keep the system insensitive to external perturbations. This paper firstly focuses on the quadrotor-leader trajectory tracking by using SMC method. Another SMC algorithm is implemented to control the formation during flying. All the algorithms proposed in this paper are implemented using ROS, the results demonstrate the effectiveness of the proposed control method.