Model-Free Formation Control: Multi-input Adaptive Super-Twisting Approach Based on Barrier Function

Control effort is a major factor considered in formation control. This work proposes an super twisting control (STWC) algorithm for the cooperative formation flying of a multi-agent quadrotor system (MAQS). For unknown perturbations/uncertainties, a variable gain based on a barrier function is proposed. Then, By utilizing Lyapunov method, the convergence properties of the proposed method are rigorously analyzed. The effectiveness and merits of the proposed controller in formation construction and trajectory tracking is verified by simulation.