This article focuses on designing a robust time-varying formation controller for a set of micro quad-copters with switching interaction communication topology. Each micro quad-copter within the formation is represented by an under-actuated nonlinear model with the dynamics of each quad-copter being subjected to parameter perturbations and external disturbances. A robust formation control protocol is proposed that consists of a position controller and an attitude controller. The theoretical analysis is detailed to prove robust stability and tracking performance of the multi-vehicle control system, subject to uncertainties and switching interaction communication topology. Experimental and simulation results for a set of micro quad-copters validate the advantages of the proposed control protocol in time-varying formation flights.

中文翻译：

---

一组具有切换交互通信拓扑结构的四轴飞行器的鲁棒时变编队控制

本文的重点是为一组具有切换交互通信拓扑的微型四轴飞行器设计一个鲁棒的时变编队控制器。地层内的每个微型四轴飞行器都由欠驱动非线性模型表示，每个四轴飞行器的动力学都受到参数扰动和外部干扰的影响。提出了一种由位置控制器和姿态控制器组成的鲁棒编队控制协议。详细的理论分析证明了多车控制系统的鲁棒稳定性和跟踪性能，受不确定性和切换交互通信拓扑的影响。一组微型四轴飞行器的实验和仿真结果验证了所提出的控制协议在时变编队飞行中的优势。