Mohammad Rezaei - PhD candidate, control group, Electrical Engineering Department, Iran University of Science and Technology,
Hossein Bolandi - Assosiated Professor, control group, Electrical Engineering Department, Iran University of Science and Technology
Nader Jamali Soufi Amlashi - MS in control Engineering,, Electrical Engineering Department, Tabriz University
S. Majid Esmailzadeh - Assistant Professor, control group, Electrical Engineering Department, Iran University of Science and Technology

In this paper, the nonlinear model of quadrotor is controlled via robust high order sliding mode control. Formation control of triangle shaped quadrotors group via decentralized leader-follower approach is design and simulate. To eliminate the common challenge of leader-follower approach (leader failure or perturbed), we introduce high order sliding mode two leaders formation control method. Asymptotic stability of system is asserted via Lyaponov method. The performance of the proposed method is tested in a simulation study taking into account external disturbances. Simulation results show that the ability of proposed method to control and stabilize formation of group

Decentralized Approach, Formation Control, High oreder Sliding mode Control, Leader-Follower, Lyaponov Stability