Robust Control Design of Multiple Quadrotors Formation

Abstract

In this study, a control strategy is presented for multiple quadrotors, inclusive of sliding mode control and proportional derivative (PD) control, with the goal of providing stability, robustness, reduced disturbance, and formation tracking in uncertain conditions and environments. The presented control technique is based on Newton-Euler equations and satisfying Lyapunov’s stability conditions, using sliding mode controller design and PD controller design. The designed control technique was implemented, and the desired results were achieved with minimized position error, orientation error, and distance error, while adhering to Lyapunov’s stability conditions.