This paper has considered the problem of formation control of multiple quadrotor using a diversiﬁed feedback linearization technique. Taking the advantage of double integrator which normally can achieve any unrestrained shape, we have devised a linearization technique that is made possible using extended feedback. The technique has the ability of transmuting the dynamics of a quadrotor’s reference point to four double integrators in accordance with yaw angle and position of quadrotor in the space. The traditional exact feedback technique require a jerk (which is the derivative of acceleration) but it is not an issue for the extended feedback method. Ending by the conclusion the section numerical example elucidate formation control of quadrotor by using reference point and center of masses of the quadrotors.
Irshad Hussain Amir Waleed Shahjehan M. Riaz and M. Suleman Formation Control of Unmanned Vehicles via Extended Feeedback Consensus International Journal of Engineering Works Vol. 5 Issue 10 PP. 211-215 October 2018
 R. Olfati-Saber and R. M. Murray, “Information ﬂow and cooperative control of vehicle formations,” IEEE Transactions on Automatic Control, vol. 49, pp. 1465–1476, 2004.
 M. P. K. Oh and H. Ahn, “A survey of multi-agent formation control,” Automatica, vol. 53, pp. 424–440, 2015.
 G. Lafferriere, A. Williams, J. Caughman, and J. Veerman, “Decentralized control of vehicle formations,” Systems & control letters, vol. 54, no. 9, pp. 899–910, 2005.
 Y. Ebihara, D. Peaucelle, and D. Arzelier, “Analysis and synthesis of interconnected positive systems,” IEEE Transactions on Automatic Control (to appear in), 2017.
 A. Isidori, Nonlinear control systems. Springer Science & Business Media, 2013.
 A. Mokhtari, A. Benallegue, and Y. Orlov, “Exact linearization and sliding mode observer for a quadrotor unmanned aerial vehicle,” International Journal of Robotics & Automation, vol. 21, no. 1, pp. 39–49, 2006.
 J. Toji and H. Ichihara, “Formation control of quadrotors based on interconnected positive systems,” in 15th European Control Conference, 2016, pp. 837–842.