Formation control of multiple quadrotors based on leader-follower method

This paper proposes a control algorithm to solve multiple quadrotor formation problem in a leader-follower configuration. A combination of sliding mode control (SMC) and linear quadratic regulator (LQR) are used for trajectory tracking control of a single robot. Position control, which acts as the outer loop is controlled by LQR for providing the reference attitude angles for the inner loop. SMC used for stabilizing and converging the error for the inner loop which is responsible for attitude angles. Another SMC algorithm is used for maintaining the leader-follower formation during flying, in both vertical and horizontal planes.