Fully Distributed Time-Varying Formation Control of Quadrotors

This paper centers on addressing the fully distributed formation control (FDFC) problem for multiple micro quadrotors to practically perform time-varying formation trajectory tracking flight. The quadrotor model is considered as a nonlinear underactuated system, being influenced by the effects of couplings, parameter variations and environmental uncertainties. A fully distributed formation control law is designed, with local information of the networked quadrotor system. Experimental results for a micro quadrotor team validates the stability and superiority of the proposed control law.