Concluding Remarks and Future Scope

This book presents the robust sliding mode protocols for the formation of Quadcopter swarm in both continuous-time and discrete-time domains. The leader-follower type of Multi-agent system (MAS) concept has been utilized for achieving the formation. In the MAS application, a Quadcopter acts as an individual agent. To establish the communication between those agents, the fixed and undirected graph theory is developed. While using the leader-follower MAS application, there are mainly two types of controllers being used, namely, (1) primary controller and (2) distributed or secondary controller. The primary controller stands for the individual controller of the Quadcopter to get the desired setpoint or to maintain the desired output. However, a distributed controller is used for maintaining the appropriate distance between the neighborhood Quadcopters to achieve the formation as per the given pattern.