Formation control of quad-rotors in three dimension based on euclidean distance dynamics matrix

In this paper, we consider that a group of four quad-rotors in three dimension is controlled by the formation control law. Formation control problems in three dimension have been of considerable interest in both the control community and its applications. Also, the quad-rotor has received attention, because they can hover, vertically take-off and land. We use a formation control law in three dimension based on inter-agent distances. By the direct control of the Euclidean distance matrix of the group, we use the control law from the time derivative of the Euclidean distance matrix associated with the realization of the group. Assume that the initial and desired formation are not collinear, and the information graph is complete, then the desired formation of the group is globally asymptotically stable with all squared inter-agent errors exponentially converging to zero. Simulation results show the formation control of four quad-rotors in three dimension is stable, and it supports the control law.