Quadrotor Flight Formation Control via Positive Realness

This paper addresses the problem of quadrotor flight formation control. The quadrotor simplified dynamics is represented by integrators in cascade. A system transformation is presented that reduces the input-output behavior of a chain of integrators into a single integrator. Therefore, the standard coordination control algorithms can be directly applied. A second strategy is proposed consisting in transforming the chain of integrators into a strictly positive real (SPR) system and then an algorithm is proposed for the formation control of SPR systems. The proposed algorithm is illustrated in simulation.