Leader-Follower Formation Control of Multi-quadrotor Systems Based On the Dynamic Surface Approach

This paper is concerned with the leader-follower formation control of multi-quadrotor based on the dynamic surface control Approach. The virtual quadrotor is designed to convert the formation control problem into the trajectory tracking problem. By employing dynamic surface control method, the issue of "explosion of differentiation" caused by backstepping is avoided. Based on Lyapunov function theory, all signals of the closed-loop system are uniformly ultimately bounded. Simulation results show the effectiveness of the proposed control strategy.