Robust Time-Varying Formation Control for a Set of Quad-Copters with Switching Interaction Communication Topology

This article focuses on designing a robust time-varying formation controller for a set of micro quad-copters with switching interaction communication topology. Each micro quad-copter within the formation is represented by an under-actuated nonlinear model with the dynamics of each quad-copter being subjected to parameter perturbations and external disturbances. A robust formation control protocol is proposed that consists of a position controller and an attitude controller. The theoretical analysis is detailed to prove robust stability and tracking performance of the multi-vehicle control system, subject to uncertainties and switching interaction communication topology. Experimental and simulation results for a set of micro quad-copters validate the advantages of the proposed control protocol in time-varying formation flights.