In this paper, the decentralized uncertainty and disturbance estimator (UDE)-based robust region reaching controller is developed to drive a swarm of quadrotors with the full degrees-of-freedom, nonlinear, coupled and underactuated dynamics to track the trajectory of a moving target region while avoiding collisions among themselves. The backstepping technique is utilized to seamlessly fuse the UDE into the region reaching control framework with the function of estimating and compensating the model uncertainties and external disturbances. Simulation studies are carried out to demonstrate the effectiveness of the proposed method for achieving the moving target trajectory tracking even in the presence of external disturbances.

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