Hierarchical and Heterogeneous Leader-follower Formation for Quadrotor's Outdoor Application

This paper deals with a design of the hierarchical and heterogeneous Leader-Follower formation. The Leader is considered as a nonholonomic system, and the Followers are assigned to be holonomic systems. This structure can be substantiated by simplification of the path planning and path following for outdoor application of the quadrotor formation. Approach to the synthesis of the control system for the Followers based on parameterization of all stabilizing H-infinity State-Feedback Gains is given. Control laws for the Leader based on a two-stage procedure of the same parameterization are represented. Solving the problem of the Leader and Followers model matching is proposed. Results of simulation prove the efficiency of these approaches.