%0 Journal Article
%T Robust adaptive formation control of quadcopters based on a leader¨Cfollower approach
%A Nguyen Xuan-Mung
%A Sung Kyung Hong
%J International Journal of Advanced Robotic Systems
%@ 1729-8814
%D 2019
%R 10.1177/1729881419862733
%X The formation control problem for multi-agent systems has been explored in recent years. However, controlling a formation of multiple aerial vehicles in the presence of disturbances has been a challenge for control researchers. To deal with this issue, a robust adaptive formation control algorithm for a group of multiple quadcopters is proposed. A nonlinear model of the dynamics of the formation error is obtained based on a leader¨Cfollower scheme. This model considers both the relative position in the x¨Cy plane and the relative heading angle between vehicles in the presence of uncertainties. In addition, by means of a model reference control approach, a robust adaptive formation controller is used to steer the vehicles into a formation pattern and have them maintain the formation shape. Numerical simulations demonstrate the effectiveness of the algorithm
%K Formation control
%K robust adaptive control
%K leader¨Cfollower
%K quadcopter
%U https://journals.sagepub.com/doi/full/10.1177/1729881419862733