Research of consistency problem for quadrotor UAV system with leader-follower

With the development of automation technology, the research of multi-agent has become a hot spot. Due to the advantages of the Unmanned Aerial Vehicle, more and more scholars are paying attention to this subject. This paper mainly models the Quadrotor UAV and research on the consistency of UAV systems. For convenience, simplify its dynamical equations into a second-integrator model. Based on the graph theory and matrix theory, the consistency problem of formation control on the quadrotor UAV system with leader-follower under fixed topology is studied.