This paper deals with leader-following fonnation control and heading synchronization for a group of quad copters. Unlike most of the existing works that involve a complex design of nonlinear formation and heading control laws for quadcopters, this work proposes a simple linear law especially for quadcopters in leader-following formation. In fact, the quadcopter dynamics involves state variables being coupled nonlinearly. However, it is shown that the dynamics can be treated as a linear system via a feedback l…
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