Disturbance Perception based Quadrotor UAV Maneuvering Formation against Unknown External Disturbance

This paper proposes an anti-disturbance formation control of quadrotor unmanned aerial vehicles (UAVs). A disturbance observer is designed for the quadrotor UAVs to estimate external disturbances which is compensated in attitude control algorithm. Based on this disturbance estimate, an anti-disturbance formation control law is proposed to maneuver the formation and maintain consensus to ensure that the follower quadrotors suffer the external disturbances slightly and save energy for the formation flights. The simulation results demonstrate the effectiveness of the proposed anti-disturbance formation control scheme.