Abstract:Based on terminal sliding mode control technology, the formation control of quadrotor UAV systems is realized in this paper. The generalized error state is designed for each quadrotor UAV based on the mathematical model, then the formation control objective is proposed based on the generalized error state. In order to achieve the formation control objective, we design formation controllers based on terminal sliding mode control. When the generalized error states of all quadrotor UAVs converge to zero, the desired formation will be achieved. Furthermore, the finite time stability of the above formation controllers is proved based on the finite time stability theory. Finally, a simulation example is used to verify the effectiveness of the proposed algorithm. The controller proposed in this paper is compared with the controller based on linear sliding mode control. The results show that the proposed control algorithm has a better formation control effect.