Finance

Electrical engineering

Physics

Control engineering

Agronomy

Biology

Underactuation

Dynamics (music)

Engineering

Control system

Artificial intelligence

Position (finance)

Economics

Controller (irrigation)

Acoustics

Control (management)

Computer science

Rotation around a fixed axis

Robust control

Control theory (sociology)

Mechanical engineering

IEEE Transactions on Cybernetics

In this paper, the robust formation control problem is investigated for a group of quadrotors. Each quadrotor dynamics exhibits the features of underactuation, high nonlinearities and couplings, and disturbances in both the translational and rotational motions. A distributed robust controller is developed, which consists of a position controller to govern the translational motion for the desired formation and an attitude controller to control the rotational motion of each quadrotor. Theoretical analysis and simulation studies of a formation of multiple uncertain quadrotors are presented to validate the effectiveness of the proposed formation control scheme.

Robust Formation Control for Multiple Quadrotors With Nonlinearities and Disturbances