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In this paper, we present a distributed optimal multiagent control scheme forquadrotor formation tracking under localization errors. Our controlarchitecture is based on a leader-follower approach, where a single leaderquadrotor tracks a desired trajectory while the followers maintain theirrelative positions in a triangular formation. We begin by modeling thequadrotors as particles in the YZ-plane evolving under dynamics with uncertainstate information. Next, by formulating the formation tracking task as anoptimization problem -- with a constraint-augmented Lagrangian subject todynamic constraints -- we solve for the control law that leads to an optimalsolution in the control and trajectory error cost-minimizing sense. Resultsfrom numerical simulations show that for the planar quadrotor model considered-- with uncertainty in sensor measurements modeled as Gaussian noise -- theresulting optimal control is able to drive each agent to achieve the desiredglobal objective: leader trajectory tracking with formation maintenance.Finally, we evaluate the performance of the control law using the tracking andformation errors of the multiagent system.

Distributed Optimal Formation Control for an Uncertain Multiagent System in the Plane