Trajectory Tracking Control for Quadrotor Formation Subject to Environmental and Model Uncertainties

This paper proposes a robust adaptive global control approach for quadrotor aircraft formation system based on RBF neural network against parametric uncertainties and bounded external disturbances for the quadrotor aircraft sys-tem. The actual controller consists of neural network controller in the approximate domain and robust controller outside the approximate domain. In order to ensure that all the signals of the closed-loop system are globally consistent and ultimately bounded, a smooth switching function is introduced to realize the smooth switching among controllers. What is more, Lyapunov function and Barbalat lemma are used to prove the stability of the nonlinear quadrotor aircraft formation system, and analyze the system stability strictly. Finally, we apply the proposed controller in MATLAB and Simulink software platforms, and analyze the numerical results.