Robust Decentralized Nonlinear Formation Control of Multiagent Quadrotor

The robust decentralized formation control for the multiagent quadrotor is investigated in this article. The leaderless formation protocol is proposed for a class of square multi-input multi-output nonlinear multiagent systems with an undirected communication graph. The six degree of freedom underactuated nonlinear model of multiagent quadrotor is considered and altered to a four-input four-output model by stabilizing two states internally using sliding mode control (SMC). Later, the sliding mode-based finite-time position, altitude and heading formation is established based on Lyapunov stability theory. The numerical simulations are performed using MATLAB/ Simulink which validate the proposed formation protocol.