Abstract
Aiming at the formation control of multiple quadrotor unmanned aerial vehicles (UAVs), this paper proposes a formation control strategy based on consensus theory:the communication topology of quadrotor UAV formation is constructed by graph theory, and the directed graph is used to represent the interaction between individuals in the cluster. A distributed formation controller is designed, the position controller is used to track the desired formation trajectory and maintain the specified formation, and the attitude controller is used to stabilize the attitude of each quadrotor. The simulation results verify the effectiveness and superiority of the formation controller designed in this paper.
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