A consensus control law is proposed for a multi-agent system of quadrotors with leader-follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations.
Keywords: active disturbance rejection control; hybrid control system; nonlinear PID; quadrotor system; unmanned aerial vehicle.