Distributed Adaptive Dynamic Programming Formation Control of Multiple Quadrotor-UAV System

In this paper, we aim to tackle the formation tracking control for a Quadrotor UAV system using the adaptive dynamic programming. The Quadrotor UAV system is composed by position outer-loop and attitude inner-loop. The main contribution is that an adaptive dynamic programming based robust tracking control scheme is established for the outer-loop position subsystem with external disturbances and model uncertainty. Then the tracking signal of the attitude subsystem is obtained by attitude resolution, and a sliding mode controller is designed to get fast tracking. The robust tracking control performance is guaranteed theoretically via Lyapunov approach and also verified through simulation illustration.