Quadcopter Formation Using Backstepping Control and Dynamic Coupling in Master-Slave Configuration

In this work, backstepping formation control of quadcopters in master-salve configuration by using a proposed dynamic coupling is presented. By means of extensive numerical simulations, we show the advantages by comparing the system using backstepping control and backstepping control with the proposed dynamic coupling system. Some cases of interest are studied in order to show several benefits when using the proposed coupling scheme. These cases include different desired trajectories for the master quadcopter, such as circular, concentric and lemniscate, where the slave quadcopter receives the desired trajectory from the master quadcopter through a dynamic coupling using a backstepping control. The obtained results in the numerical simulations show that it is possible to achieve quadcopter formation using backstepping control and dynamic coupling in Master-Slave configuration.