摘要：In this paper, a centralised robust discrete-time sliding mode controller is proposed for the formation control of a multi-quadrotor system in the presence of disturbances. The control system, based on consensus control, is designed around the full, nonlinear, under actuated dynamics of the quadrotor. Graph theory is used to define the communication topology of the multi-agent system. Results obtained through simulation in MATLAB and Simulink are used to verify the control system.
