A Fixed-Time Hierarchical Formation Control Strategy for Multiquadrotors

Figure 4

The adjacent distance between every two quadrotors under the control algorithm (34). (a) In the range of (0, 2). (b) In the range of (3, 5). (c) In the range of (5, 10). (d) In the range of (10, 20).

(a)

(b)

(c)

(d)