Virtual Leader-Follower Formation Control of Multi Quadrotors by using Feedback Linearization Controller

Abstract

Todays by progressing of technology and the automation of various devices, multi-agent systems are highly regarded by researchers. One of the tasks of multi-agent systems is coordinate and cooperative movement of a group of agents. This paper is focused on distributed formation control of four quadrotors to make a coordination framework. First, nonlinear equations of motion of a quadrotor turns into double-integrator equation by using feedback linearization control. After that, formation control second-order protocol of each agent is presented to quadrotors have a coordination movement in three attitude angles and three degrees of freedom of velocities. Virtual structural and leader-follower protocol is used to present a distributed formation control protocol. Dynamic equations of each quadrotors and the proposed control algorithm is simulated on MATLAB.