Discrete-Time Sliding Mode Protocol for Formation of Quadcopter Swarm

Chapter 4, DDSM protocols are designed for the formation of a 6-DOF Quadcopter swarm. Here, a DMAS is used to develop the distributed controller. The DDSM formation protocol using the power rate reaching law is designed for the swarm. The performance of the designed protocol using the power rate reaching law is compared with the other first-order controller designed using Gao’s reaching law. The analysis of the number of steps required for the global formation of DMAS for both protocols along with the Lyapunov stability analysis is discussed.