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    This study presents a robust formation control method for multiple quadrotors, addressing complex dynamics and disturbances. The developed distributed controller ensures stable translational and rotational motion for reliable aerial formations.

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    Area of Science:

    • Robotics and Control Systems
    • Aerospace Engineering
    • Nonlinear Dynamics

    Background:

    • Quadrotor dynamics are characterized by underactuation, high nonlinearities, and couplings.
    • External disturbances affect both translational and rotational motions, posing challenges for control.
    • Maintaining stable formations with multiple uncertain quadrotors requires sophisticated control strategies.

    Purpose of the Study:

    • To investigate the robust formation control problem for a group of quadrotors.
    • To develop a distributed robust controller capable of managing underactuated and nonlinear quadrotor dynamics.
    • To validate the proposed control scheme through theoretical analysis and simulations.

    Main Methods:

    • A distributed robust controller architecture was designed.
    • The controller comprises a position controller for translational motion and an attitude controller for rotational motion.
    • Theoretical analysis and simulation studies were conducted on a formation of multiple uncertain quadrotors.

    Main Results:

    • The proposed distributed robust controller effectively manages the complex dynamics of individual quadrotors.
    • Stable formation control was achieved despite underactuation, nonlinearities, couplings, and external disturbances.
    • Simulation results demonstrated the effectiveness of the formation control scheme.

    Conclusions:

    • The developed distributed robust formation control scheme is effective for uncertain quadrotor systems.
    • The controller successfully addresses challenges posed by underactuation and nonlinear dynamics.
    • The findings validate the proposed approach for practical applications in multi-quadrotor systems.