Distributed Formation Control for Multiple Quadrotor System Based on Consensus Algorithm

The paper investigates the distributed formation control problem for multiple quadrotor system. The reference coordinate is introduced to define desired positions of multiple quadrotor system, then a consensus law is illustrated to generate each quadrotor's information in reference coordinate. To eliminate the formation control error when flying trajectory of formation control system includes rotational motion, the quadratic programming problem is adopted. Firstly, the mathematical model of each quadrotor is illustrated. The linear double integrator system based on PID controller is developed which obtains the attitude and position stability of the quadrotor. Then, the PD controller is used to update the information of reference coordinate. The distributed formation control protocol based on the consensus algorithm is proposed to enable follower quadrotors to get their information of the reference coordinate system. The quadratic programming problem is introduced to minimize formation control error, maintain the accuracy of the algorithm. Finally, the numerical simulations show the proposed algorithm can maintain formation control stability.