Almost global decentralised formation tracking for multiple distinct UAVs

We consider formation control of multiple UAVs, not necessarily identical, by means of a decentralized state feedback controller. The attitude dynamics is formulated on SO(3) to avoid singularities of Euler angles and ambiguity of quaternions, thus allowing for large angular maneuvers, e.g., loopings). Since we explicitly take into account the constraint of non-zero total thrust in our controller design, the controller achieves uniform almost global asymptotic stability instead of only a local result. The trade off between individual trajectory tracking and formation forming is illustrated by means of simulations.