Robust Team Formation Control for Quadrotors

In this brief, we develop a suboptimal H
_∞
controller for a leader-follower formation problem of quadrotors with the consideration of external disturbances and model parameter uncertainties. We also compare the control performances between this H
_∞
controller and an integral backstepping (IBS) controller for this problem. The resultant state feedback controller establishes the asymptotically stability of the closed-loop nonlinear system. Simulation results show a good performance for both controllers in normal circumstance, and the H
_∞
controller performs much better than the IBS controller under the disturbances. Experimental results of using H
_∞
controller show its stability and robustness against the disturbances.