Continuous-Time Sliding Mode Protocol for Formation of Quadcopter Swarm

In this chapter gives the information about the distributed continuous-time sliding mode (DCSM) protocol for the formation of linear and non-linear model of Quadcopter swarm of MAS configured with fixed graph topology for a given pattern. The graph theory is used for establishing the communication between agents. The leader-follower and MAS concept is configured to design the formation protocol along with the Lyapunov stability analysis.