Formation flight control and path tracking of a multi-quadrotor system in the presence of measurement noise and disturbances

This paper focuses on formation flight control of a multi-quadrotor system. Path tracking of this system is another subject which is in the spot light. When a fault occurs for leader of the group in the leader-follower structure, mission will be failed. In order to avoid this fault, in this paper virtual structure is used instead. The group uses two control loops for flight controlling. Inner loop which is used to control attitudes of agents, combines feedback linearization controller with PD controller. Outer loop which is designed for position control, uses a combination of consensus protocol with PID controller. There is measurement noise in the system, thereby exact values of the states are not available. In order to compensate these negative factor, Kalman filter is used, thus states values are estimated. Finally, effectiveness of the presented protocol is examined through stability analysis and numerical simulation.