Flatness-Based Aggressive Formation Tracking Control of Quadrotors with Finite-Time Estimated Feedforwards

In this paper we address a decentralized neighbor-based formation tracking control of multiple quadrotors with leader–follower structure. Different from most the existing work, controller is given in one loop without distinguishing motion and attitude by means theory flatness. order to achieve an aggressive tracking, high-order states neighbors are estimated using proposed extended finite-time observer for each quadrotor. Then used as feedforwards design. Simulation experimental results show that improves performance, i.e., pattern better maintained than feedforwards, when reference trajectory.