Robust Formation Tracking Control for Multiple Quadrotors under Aggressive Maneuvers

Document Type


Publication Date



Co-operative control, Nonlinear systems, Robust control, Uncertain dynamic systems, Quadrotors

Organizational Units

Daniel Felix Ritchie School of Engineering and Computer Science, Electrical and Computer Engineering


This brief is concerned with the formation control problem of a multi-agent system composed of multiple quadrotors tasked to achieve aggressive trajectory tracking with prescribed formation patterns. An underactuated model with six degrees of freedom is considered for each quadrotor, the dynamics of which account for nonlinearities, parameter uncertainties, and external disturbances. A robust control approach is proposed that stems from linear quadratic regulation and robust compensation theory fundamentals. Theoretical analysis and simulation results validate the effectiveness of the presented theoretical framework.

Publication Statement

Copyright held by author or publisher. User is responsible for all copyright compliance.

This document is currently not available here.