Passification based signal-parametric adaptive controller for agents in formation∗

In the paper the novel method for ensuring an overall formation stability for the case of significant variations of the agents parameters in formation is proposed. The local agent controller is designed by employment of the signal-parametric adaptive strategy, based on the Passification method. The approach is demonstrated by an example of altitude control of the quadrocopter formation. The simulation results for a group of 25 quadrocopters are given, showing eficiency of the suggested method.