en عمومى General پژوهشي Research paper <div style="text-align: justify;">In this paper, a distributed consensus problem with path tracking problem for multiple quadrotors with bounded disturbances under a directed topology is solved. At first, dynamic model of a single quadrotor is divided into two subsystems; fully-actuated and under-actuated subsystem. Some coupling terms between the two subsystems are regarded as internal perturbations. Bounded external disturbances are considered in this paper too and are entered to the quadrotors. Rate bounded PID controller and sliding mode controller are considered for fully-actuated subsystem of the quadrotors, for altitude and yaw angle of the quadrotors respectively. For under-actuated subsystems of the quadrotors, a distributed control protocol based on sliding mode control is proposed to guarantee that the consensus is achieved and the desired path is tracked by the group with bounded errors. These errors are only associated with external disturbances. Analysis based on Lyapunov theory and different simulations show the stability and effectiveness of the proposed control system.</div> Multi-agent system, Quadrotor, sliding mode controller, distributed control protocol 61 70 http://jocee.kntu.ac.ir/browse.php?a_code=A-10-533-1&slc_lang=en&sid=1 Ehsan Abbasi Ehsan.abbasi@me.iut.ac.ir 1003194753284600259 1003194753284600259 No Departments of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran Mohammad Danesh danesh@iut.ac.ir 1003194753284600260 1003194753284600260 Yes Departments of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran Mostafa Ghayour Ghayour@iut.ac.ir 1003194753284600261 1003194753284600261 No Departments of Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran