Differential Game-based Formation Flight for Quadrotors

  • Manuel Jimenez-LizarragaEmail author
  • Octavio Garcia
  • Ricardo Chapa-Garcia
  • Erik G. Rojo-Rodriguez
Regular Papers Robot and Applications


This paper focuses on a novel algorithm for the control of formation flight of a set of n-quadrotors based on the differential game approach. The mathematical model of n-quadrotors is presented using the Newton-Euler formulation considering the disturbances, and the formation flight scheme based on the game approach consists of one vehicle acting as a leader following a pre-designed trajectory meanwhile the others vehicles just follow the leader even in the presence of disturbances. A reduced dimension Riccati equation is solved in order to obtain the desired coordination. A numerical example is given in order to illustrate the effectiveness of the approach for the formation flight.


Formation flight linear quadratic games Newton-Euler model quadrotors 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Manuel Jimenez-Lizarraga
    • 1
    Email author
  • Octavio Garcia
    • 2
  • Ricardo Chapa-Garcia
    • 1
  • Erik G. Rojo-Rodriguez
    • 2
  1. 1.Faculty of Physics-Mathematics SciencesAutonomous University of Nuevo LeonSan Nicolas de los GarzaMexico
  2. 2.Aeronautic Engineering Research and Innovation Center, Faculty of Mechanical and Electrical EngineeringAutonomous University of Nuevo LeonApodacaMexico

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