ABSTRACT
In this work we present formation tracking for multiple quadrotor. The goal is to design formation tracking control for leader and follower quadrotors, where one quadrotor is designed to be the leader that tracks the desired trajectory and others are the followers. These followers track the leader’s trajectory by keeping a fixed desired separation from it. The control approach used in this study is composed of two parts. In the first part due to the presence of external disturbances in the vertical motion (z-axis) of the fully actuated subsystem of the quadrotor dynamic model and the fact that it presents a good robustness to the external disturbances and provides a good tracking control [7, 8, 9], the sliding mode is used to compensate this effect and ensure the formation over z-axis and yaw angle (ϕ). In the second part, a second controller based on backstepping is introduced to ensure the formation tracking over x and y-axis. This controller is an effective technique based on lyapunov theory to design control algorithms for under-actuated systems [1, 2, 16].
