Distributed Formation Control of Quadrotors Using Model Predictive Contouring Control

This paper studies the problem of formation control for multiple quadrotors based on the model predictive contouring control (MPCC). A novel distributed multi-quadrotor formation control method is proposed which requires the quadrotors communicate the cooperative parameter and position to neighbors. In particular, the additional state in MPCC is selected as the cooperative parameter that is used to keep formation while following the reference path. In addition, an artificial potential field function is constructed to avoid collision. Finally, the simulation experiment is conducted to verify the effectiveness of the proposed method.