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Formation Control Multi Quad-rotor System Corresponding to Suppression of Disturbance and Collision Avoidance Using RISE

In this paper, we propose a control method which combine collision avoidance method and RISE (Robust Integral of the Sign of Error) for multiple Quad-rotor formation control methods, and confirm effectiveness of this method that is resistant to disturbance by lowering the risk of collision. First, we modeled quad-rotor as a linear system. Next, we described a method to suppress nonlinear disturbance using RISE which is a type of sliding mode control. In addition, we introduced collision avoidance method, and derived the conditions to achieve accurate formation by using Lyapunov stability theory. Finally, we implemented an algorithm in the simulation, and confirmed that the proposed method is functioning correctly.