Adaptive leader follower control for multiple quadrotors via multiple surfaces control

摘要

Based on the multiple surface and fixed undirected communication topology,the adaptive leader follower control for multiple quadrotors is discussed.Our approach is based on leader follower architecture.Multiple surface control(MSC)is used to design consensus controller to make multiple quadrotors construct a formation during flying with the presence of uncertainty item caused by the ground effect during landing or taking off.Simulation results are presented to validate the effectiveness of the proposed controller.