Hierarchical Control and Cooperative Disturbance Estimation for Multiple Drones: Towards Application to Micro-Meteorology Control

This paper deals with formation control and disturbance estimation problem for multiple drones in the presence of unknown disturbance forces. The unknown disturbance forces are assumed to be generated mainly by wind. In view of application to micro-meteorology control, a formation control law involving a cooperative disturbance estimation mechanism is proposed. The estimated disturbance can be used for meteorology control. The proposed control law consists of three parts: a hierarchical optimal feedback control law for translational motion, a cooperative update law for disturbance estimation, and a nonlinear attitude control law. Copyright (c) 2023 The Authors.