Abstract
Quadrotor unmanned aerial vehicle (UAV) have potential applications in many fields, multiple quadrotor UAVs cooperative formation flight control has acquired abundant results. In this paper, a sliding mode controller is used to solve the leader-follower formation control and a nonsingular fast terminal sliding mode technique (NFTSM) is proposed to control each single quadrotor UAV. First, the formation model and the quadrotor UAV dynamic model are constructed. Then a formation strategy based on sliding mode control (SMC) is presented to keep the leader-follower formation. A double-hierarchy finite-time controller based on NFTSM technique is constructed to control the position and Euler angles simultaneously of each quadrotor UAV. Finally, the proposed method is tested in the five quadrotor UAVs flying experiment and the simulation result shows the effectiveness.
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