Consensus Problem Based on the Hierarchical Control for Multi-Quadrotor UAVs

This paper considers the consistent cooperative control of multi-quadrotor UAVs with virtual leader under general directed graph. Based on the hierarchical control, a novel controller, depended on location, velocity and acceleration information of the neighbors in a directed topology, is proposed for multi-quadrotor UAVs. Moreover, the coupling term between position and attitude system is processed by the scaling principle. Finally, the consensus control of five quadrotor UAVs is tested, which verifies that the designed controller is effective and can achieve control objectives.