Formation Control of Swarm Quadrotors

What is it about?

This paper presents design of control systems for a group of quadrotors performing formation flight. The system has been presented into two interconnected subsystems. The first one representing the under-actuated subsystem gives the dynamic relation of the altitude and attitude. The second fully-actuated subsystem gives the dynamics of the horizontal position. To design motion control system, PID controller, active disturbance rejection (ADRC) controller and back stepping control architecture are designed and presented. Extended state observer (ESO) technique has been studied in order to eliminate the disturbances. The performances measure of the control architectures are computed to compare the presented control architectures more accurately.

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