This paper presents a bounded formation controller for multiple quadrotors (UAVs) system with leader-follower structure. Considering the actuator saturation of the quadrotors, the hyperbolic function is used in the formation controller design. The composite nonlinear feedback is integrated in the formation controller in order to improve the formation performance. The simulation and experimental results show that the formation task is achieved with small overshoot and rapid response speed.
['Zhicheng Hou', 'Isabelle Fantoni']
Composite nonlinear feedback-based bounded formation control of multi-quadrotor systems