Formation Control of Quadrotors Using Leader-Follower Method with Adaptive and Robust Controllers Under Uncertain Conditions

Subject Areas : Electrical engineering (electronics, telecommunications, power, control)

Elahe Moradi ^{1 *} , mohamad mahdi massihnia ²

1 -
2 - Department of Electrical and Computer Engineering, Yadegar-e-Imam Khomeini (RAH) Shahre Rey Branch, Islamic Azad University, Tehran, Iran

Received: 2025-02-18 Accepted : 2025-05-12 Published : 2025-06-20

Keywords: Unmanned Aerial Vehicle (UAV), Leader-Follower, Adaptive Controller, Robust Controller, PID Controller, Uncertainty,

Abstract :

In recent years, the growing importance of unmanned aerial vehicles (UAVs) in various military and civilian applications, along with significant advancements in control systems, automation, and electronic component technologies, has made this field one of the most attractive research areas worldwide. Among the critical applications of robots is their use in search, rescue, and protection operations for various environments and resources. Goals such as increasing operational speed and reducing costs have always been fundamental in robot design and development. Deploying groups of robots instead of a single robot has proven to be one of the most effective methods to achieve these goals, as robotic groups can perform tasks beyond the capabilities of a single robot. In this study, quadcopters—flying robots with four propellers and motors capable of vertical flight—are analyzed in terms of structure, components, mathematical modeling, and controller design. Challenges such as parameter uncertainties and unmodeled dynamics complicate controller design, making this topic particularly significant in aerospace engineering and control systems. This research aims to evaluate adaptive, robust, and PID controllers for managing the formation of eight quadcopters using a leader-follower approach while ensuring closed-loop stability. Additionally, the controllers' performance under uncertain conditions is assessed to confirm their ability to meet control objectives effectively.

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