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Formation Tracking Control of Quadrotor Unmanned Aerial Vehicle Swarm with Double Formation Structure

In this paper, a time-varying formation tracking control method of quadrotor unmanned aerial vehicle (UAV) swarm with multiple leaders is proposed to realize the double formation structure. First, time-varying formation tracking protocols are constructed based on the neighboring information of UAVs. Then, sufficient conditions of time-varying formation tracking with the double formation structure are proposed. It is shown that both followers and leaders can form desired formations, and followers track to a formation center determined by all the leaders. Besides, an explicit presentation of the formation center function is given. Finally, a numerical simulation is presented to verify the effectiveness of the theoretical results.