<![CDATA[Formation control of Unmanned Aerial Vehicles (UAVs), especially quadrotors, has many practical applications in contour mapping, transporting, search and rescue. This article solves the formation tracking requirement of a group of multiple UAVs by formation control design in outer loop and integral Reinforcement Learning (RL) algorithms in position sub-system. First, we present the formation tracking control structure, which uses a cascade description to account for the model separation of each UAV. Second, based on value function of inner model, a modified iteration algorithm is given to obtain the optimal controller in the presence of discount factor, which is necessary to employ due to the finite requirement of infinite horizon based cost function. Third, the integral RL control is developed to handle dynamic uncertainties of attitude sub-systems in formation UAV control scheme with a discount factor to be employed in infinite horizon based cost function. Specifically, the advantage of the proposed control is pointed out in not only formation tracking problem but also in the optimality effectiveness. Finally, the simulation results are conducted to validate the proposed formation tracking control of a group of multiple UAV system.]]>
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