Quadrotor Formation Control Method Based on Graph and Consistency Theory

This paper introduces graph and group system consistency theory and puts forward a quadrotor formation control method. The quadrotor is described as a second-order integrator dynamic system, and the relative position deviation of different quadrotors is used to describe formation. According to the communication topology relationship between quadrotors, the formation is modeled by graph theory. The fusion of the pilot-follow and graph theory method is analyzed, and a second-order coherence algorithm with a pilot is presented. With this algorithm, the quadrotors can complete behaviors just as formation rally and formation mobility etc. Finally the paper verifies the availability of the proposed method through simulation tests.