Quad-rotors formation control as an interconnected system

Luis García-Delgado, Alejandro Dzul, Víctor Santibáñez, Miguel Llama

Research output: Contribution to conferencePaper


This paper proposes a formation control of quad-rotor aircrafts seen as an interconnected system with stability analysis. The formation is realized by considering a constant altitude for the group of aircrafts. The control scheme for the group is based on potential field theory while the stabilizing control law for each rotorcraft is done through nested saturation functions. The stability analysis uses Lyapunov functions while the system is saturated, and when the system is non-saturated, it is analyzed as a Large-scale interconnected linear system in order to compute the formation gain that stabilizes the system. Simulation results emphasize the effectiveness of the proposed control scheme. © 2011 IFAC.
Original languageAmerican English
Number of pages6
StatePublished - 1 Dec 2011
Externally publishedYes
EventIFAC Proceedings Volumes (IFAC-PapersOnline) -
Duration: 1 Dec 2011 → …


ConferenceIFAC Proceedings Volumes (IFAC-PapersOnline)
Period1/12/11 → …


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