A Leader-Follower Trajectory Tracking Controller for Multi-Quadrotor Formation Flight

The aim of this work is to design a control system based on modern methods flight formations quadrotor unmanned aerial vehicles. A leader-follower methodology implemented where the leader vehicle has some predefined trajectory, and follower vehicles are controlled in order track while keeping constant displacement. formation system, responsible for formation, considers, at first, only motion height, secondly, three-dimensional motion. In both cases, nonlinear laws derived Lyapunov stability theory Backstepping method. validated simulation, resorting realistic environment models.