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The configuration of the formation control is described in [Alexandre S Brandao et al. “A multi-layer control scheme for a centralized uav formation”. In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE. 2014, pp. 1181–1187.]
The formation configuration has two levels:
    1- Control the formation shape (stabilizing the relative distances between agents).
    2- Trajectory tracking control for each robot (following the predefined path).
In the simulation below we considered a Hover like system ---> Applying a Proportional and derivative controller [Wudao Ling Xuanyu Zhou Yiren Lu Myles Cai. Dynamic Dynamic Modeling, Control and Simulation of an Autonomous Quadrotor.. 2017. url: https://github.com/yrlu/quadrotor (visited on 2017)].
NOTE: 
  1- run Initial_conditions.m
  2- run the simulink file      
  3- run sim_drone_triangle.m