Control System on Multi-Quadcopter Based Sliding Mode Control (SMC) - Extended Kalman Filter (EKF) to Generate Optimal Trajectory Tracking Stability

The trajectory tracking control system created will be used to support the development of quadcopter formation strategies. To form a multi-quadcopter formation in the hovering phase, a stable and robust control system is required. The follower estimation in leader-follower formation strategy is implemented with Extended Kalman Filter. Sliding Mode Control is a robust control system strategy used to control the multi-quadcopter thoroughly. Trajectory results have been achieved, but the attitude of the multi-quadcopter during the flight tracking trajectory is unstable. Therefore, the addition of optimization can be used to generate trajectories corresponding to optimal stability. Trajectory optimization by the follower is achieved more optimally with the addition of Particle Swarm Optimization, the altitude value is achieved 100% and the follower's RSME on pitch averages 0.05 and yaw 0.003.