Completely distributed formation control for networked quadrotors under switching communication topologies

This paper investigates a completely distributed adaptive formation control protocol for networked quadrotors under switching communication topologies, where the dynamics of each quadrotor involves seriously nonlinearity and uncertainty simultaneously. For the switching communication topologies case, the adaptive formation control protocol is proposed to guarantee that the translational and rotational tracking errors of the global closed-loop system can converge into a priori set neighborhood of the origin ultimately. Furthermore, the proposed formation control protocol is completely distributed, which means that the controller of each quadrotor only needs the information from itself and its neighbors. Numerical simulation results on the quadrotor team are provided to confirm the effectiveness and advantages of the proposed adaptive formation control protocol.