Uncertainty and Disturbance Estimator-Based Distributed Formation Tracking for Quadrotors Without Linear Velocity Measurements

In this paper, the problem of quadrotor swarm formation control with varying model parameters, unmeasurable linear velocities and external time-varying disturbances is addressed. The method leverages the advanced uncertainty and disturbance estimator (UDE) technology to design an outer loop controller that seamlessly coordinates translational motions, facilitating the achievement of the desired formation pattern with unparalleled precision. To enhance the overall performance of the translational dynamics, a higher-order differentiator is introduced, which estimates the unmeasurable linear velocity and the higher-order control input. Additionally, the inner-loop attitude controller is designed using the Lie algebraic space and the UDE technique. The Lyapunov stability theory is employed to conduct the stability analysis of the closed-loop system. Finally, the numerical simulation and experiment results demonstrate the effectiveness and exceptional performance of this novel approach.