A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors

Figure 3

Simulation results. (a) The trajectory of all quadrotors in 3D space. (b) The adjacent distance between every two quadrotors. (c) The virtual velocity of all quadrotors. (d) The real velocity of all quadrotors. (e) The position curves of the leader and the quadrotors. (f) Response of attitude angles of all quadrotors.

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(b)

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(f)