InTech-Unmanned_aerial_vehicle_formation_flight_u

代码说明：

  The objective of this chapter is to design a robust controller to achieve outstanding formation flight of unmanned aerial vehicles and to accurately track the desired path while facing unknown disturbances. In other words, the goal is to design the autopilot laws to enforce the desired formation by following the guidance commands. Given a non-linear mathematical model of a quadrotor (X-shaped rotorcraft), a smooth controller composed of three time-scaled nested controllers is developed using sliding mode control driven by sliding mode disturbance observer techniques based on inversion of rotorcraft dynamics and quaternions mathematical representation.