In this paper, a robust and safety distributed formation control with unknown external disturbances is researched. For a multi-quadrotors system, a novel nonsingular terminal sliding mode control strategy is studied to realize the formation control with collision avoidance and inter-quadrotor avoidance. The formation controller is redesigned once the system reaches the small field of sliding surface to solve the existence of singular of quadrotor formation and realize the fixed time convergence of singularity region. Then, the position controller and attitude controller are designed to maintain formation configuration with collision avoidance and track the desired angular rate with disturbances, respectively. The global fixed time convergence of quadrotor formation is verified by Lyapunov theory with the fixed time convergence characteristic of singularity region and nonsingular region. At last, simulation results are presented to demonstrate the efficiency of the developed algorithm.

This paper investigates the trajectory tracking problem of quadrotor formation with collision avoiding. The safety distributed control strategy is introduced for quaternion-based multiple quadrotors formation to avoid collision. Then, based on super-twisting and adaptive control method, a multiple adaptive finite time super-twisting control method (MAFTSTC) is proposed, which rarely relies on the information of the formation model. The purpose of the robust controller designed in the position loop and the attitude loop is to ensure that quadrotor formation tracks the desired trajectory and maintains formation configuration in finite time. The closed-loop system stability of the novel control method is verified through Lyapunov theory. Finally, compared with traditional finite time convergence (FTC) method and non-robustness control (NRC) method, the simulation results illustrate the effectiveness of the proposed control method.

The formation control for multiple quadrotors subject to maintaining the formation configuration and collision avoidance in the situation of stochastic links failure is investigated in this paper. First, the distributed formation controller is designed, the position controller is developed to manage the desired formation of position, and the attitude controller is developed to control the translation and rotation movements of the quadrotor. Then, in order to avoid the collisions between multiple quadrotors and the obstacles, a potential energy function method is introduced into the quadrotor formation control combined with the nest adaptive control. Inspired by the design of event trigger controller, a communication compensation controller is designed to ensure the stability of quadrotor formation under the condition of random communication interruption and recovery. Moreover, a prescribed time function is designed, which means the convergence time of the formation system can be set in advance. The prescribed time stability of the formation control system is proved by Lyapunov theory. Finally, the simulation results verify the effectiveness and superiority of this method.

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