Multiple Quadrotors Formation Flying Control Design and Experimental Verification

The formation control problem in multi-quadrotor systems is studied in this paper. Each quadrotor has limited access to its neighbors' information due to communication constraint. First, the dynamics model of the quadrotor is linearized using Newton-Euler method. The distributed formation control law is then designed and the stability analysis is provided. An experimental platform is built with three Parrot Bebop drones and an indoor motion capture system. Numerical and experimental results are provided to show the effectiveness of the proposed algorithms.