Formation Flying for Quadcopters

Abstract: The purpose of this project is to design a control law to control a groupof quadcopters ying in formation in a specied reference track. To describe the movements of a quadcopter a mathematical model, basedon Newton-Euler equations, is formed and linearized into a linear statespacemodel. The control law is then designed by using feedback. Themodel was simulated in MATLABRO for dierent formations and numberof quadcopters, where the designed control law proved to be successfulin stabilizing the system. This report gives a basic investigation of formationying control where several assumptions and simplications havebeen made. For future work the model can be developed and more factorsbe taken into consideration.