Distributed Formation Tracking Control of Quadrotors Using $\mathcal{L}_{1}$ Adaptive Control and Differentiators

This paper addresses the formation tracking control problem of quadrotor UAV swarms, considering the situation where the linear velocity of quadrotor UAVs cannot be directly measured during actual flight and is susceptible to external time-varying disturbances. A distributed robust formation control scheme is developed within a directed graph communication topology to conserve communication resources. In this scheme, controllers based on
$\mathcal{L}_{1}$
adaptive control strategy and differ-entiator are designed for the position subsystem and attitude subsystem of each quadrotor, enhancing the system's stability, reliability, and safety performance (resistance to matched and unmatched disturbances). Numerical experiments validate the effectiveness and performance of the proposed formation control scheme.