Differentiator‐based bearing‐only formation control of quadrotors

This article addresses the leader-follower formation control problem for a group of quadrotors using only relative bearing measurements. Most existing methods require full position or velocity information, which cis challenging to obtain in harsh environments. In contrast, proposed scheme is based on hierarchical system that does not rely The bearing-only law designed stabilize desired formation, and each quadrotor maintains predetermined bearings with its neighbors. design relies non-singular extraction algorithm separate translation rotation control. outer loop utilizes filter-like approach overcome lack rate measurements controller. Moreover, employing differentiators following separation principle properties asymptotic high accuracy, uniform differentiator provided absence linear acceleration feedback inner-loop Ultimately, efficacy strategy validated through combination Lyapunov stability theory extensive numerical simulations.