Robust Team Formation Control for Quadrotors

In this brief, we develop a suboptimal H ∞ controller for a leader-follower formation problem of quadrotors with the consideration of external disturbances and model parameter uncertainties. We also compare the control performances between this H ∞ controller and an integral backstepping (IBS) controller for this problem. The resultant state feedback controller establishes the asymptotically stability of the closed-loop nonlinear system. Simulation results show a good performance for both controllers in normal circumstance, and the H ∞ controller performs much better than the IBS controller under the disturbances. Experimental results of using H ∞ controller show its stability and robustness against the disturbances.