Distributed Super-Twisting Sliding Mode Protocol for Formation and Tracking of Multiple Quadcopters

In this paper, a distributed super-twisting sliding mode protocol (DSTSM) is designed for achieving the formation and tracking of non-linear model of multiple Quadcopters using multiagent system (MAS) concept. The undirected graph theory and leader-follower protocol is used to establishing the communication between the neighborhood Quadcopters and achieving the formation. The protocol is validated for the formation of five Q uadcopters f or t he given pattern. T he stability 0 f the formation protocol is also ensured using the Lyapunov function. The simulation results show that the formation is achieved in finite time a nd tracking t he predefined tr ajectory. Al so, the protocol is robust against disturbance and parameter variation.