Fast Convergence of Multi-quadrotor Cooperation Using Weighted-Neighbor-based Control

SUMMARY In this paper, a weighted-neighbor-based cooperation control of multi-quadrotor systems is investigated. A formation tracking problem is treated, where the reference formation trajectory (RFT) is not given a priori . The RFT is only available to some of the quadrotors (i.e. the leaders). In order to attain the fast convergence of the agents, we propose an algorithm to calculate the neighbors’ weights in decentralized way. Then, the...