Leader-follower formation control of multiple Unmanned Aerial Vehicle (UAVs) is studied to solve the tracking error caused by the unknown disturbance on the quadrotor UAV group. In this system, firstly, the trajectory tracking controller of the leader UAV is designed by Integral BackStepping (IBS) on the established quadrotor aircraft model. Secondly, a formation control law based on Sliding Mode Control (SMC) is designed to drive the leader and follower UAVs to the desired formation while tracking the reference trajectory. Then the effectiveness of the designed control algorithms is verified by numerical simulations. The simulation results show that the system has good control accuracy. Finally, a experiment of the designed controllers is carried out on Parrot Bebop 2 quadrotor UAVs through the visual positioning system. The experimental results show that the designed controller can achieve the desired tracking and formation of multiple UAVs, verifying the feasibility of the designed controllers.
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