Quantitative Control of Three-Dimensional Time-Varying Formation for Multi-Rotor Aircraft

A three-dimensional time-varying formation flight control scheme for multi-rotor aircraft based on uniform quantizer is designed. Firstly, the multi-rotor aircraft model with speed command input is established and simplified into a second-order linear model. Secondly, a uniform quantizer is introduced. Based on algebraic graph theory and matrix analysis, a formation tracking control method under fixed topology is proposed. Furthermore, it is proved that the method can make all closed-loop signals globally bounded.