Null-Space based Robust Controller for Quadcopter's formation in windy environments

This work presents the design, developing and simulation of a Null-Space based robust controller for a quadcopter formation in a windy environment. The proposed controller is used to perform trajectory tracking of a formation of three quadcopters through wind gusts combining the advantages of the Null-Space based controller with a SMC controller, allowing to merge the capabilities of these two control structures; the flexibility of the Null-Space Controller and the Robustness of the SMC controller. The proposed control system is validated through simulations and with the Lyapunov stability criteria analysis.