Formation Control of Multi-Quadrotors Under Nonlinear and Disturbance Conditions

This article investigates the problem of robust control for multiple quadrotors formation with underactuation, high nonlinearitices, strong couplings, and disturbances. A distributed controller using the back-stepping approach and the robust compensation theory is designed to make multi-quadrotor fly in a fixed formation shape. The visualization simulations consist of four quadrotors are conducted through Rflysim platform and the results indicate that the proposed scheme has certain effectiveness.