Formation Tracking Control of multiple quadrotors based on Backstepping

Formation tracking control problem of multiple quadrotors are considered in this paper. The complex under-actuated system is simplified into control problems of two fully-actuated subsystems. A new control strategy using leader-follower approach has been proposed. Attitude controller and position controller are constructed respectively based on the backstepping approach. Convergence of the formation trajectories is guaranteed by imposing adequate constrains on the motion of the vehicles. Different to previous research on formation tracking control problem using artificial potential field, this paper introduce an additional field of expected velocity in design of formation controller to avoid obstacles. Simulation results using Matlab illustrate the effectiveness of the controllers proposed in this paper.