Distributed nonlinear H control algorithm for multi-agent quadrotor formation flying.

A novel distributed formation control algorithm for nonlinear uncertain multi-agent systems is proposed in this paper. The algorithm is developed based on a nonlinear H framework for a team of aerial robots with nonlinear dynamics and bounded parametric uncertainties. The multi-agent control algorithm reduces to local control laws dependent on agents information and their neighbors data. The proof of stability is presented analytically. Simulation results for two predefined scenarios verify the robust performance of the algorithm in the presence of external disturbances and bounded uncertainties, numerically. Additionally, the effects of communication network configuration are studied using numerical simulations. Calculated ISE and IADU indexes show the effectiveness of the distributed algorithm compared to independent performance of the agents.