This study introduces a sophisticated control framework for managing a pair of quadrotor drones in a leader-follower configuration, leveraging a combination of backstepping control optimized through Particle Swarm Optimization (PSO) and Proportional-Integral-Derivative (PID) control for maintaining inter-drone distance. The mathematical model of quadrotor is presented as a first step then the leader drone’s trajectory is governed by a backstepping approach, which is fine-tuned using PSO to achieve optimal performance. This optimization enhances the backstepping controller’s ability to manage complex trajectory tracking tasks, ensuring the leader drone follows its designated path with precision, robustness and minimal deviation. Simultaneously, the follower drone’s position relative to the leader is managed by a PID control system, specifically designed to maintain a constant distance between the two drones. The PID controller adjusts the follower drone’s position dynamically, responding in real-time to any variations in the leader’s trajectory and ensuring that the desired separation distance is consistently maintained. Simulation experiments validate the effectiveness of the proposed control strategy. Results demonstrate that the leader drone adheres to its trajectory with exceptional accuracy, facilitated by the PSO-optimized backstepping control. The follower drone, in turn, effectively maintains the desired distance from the leader, showcasing the robustness and adaptability of the PID control system. The proposed approach significantly improves both trajectory tracking and distance maintenance, providing a reliable solution for coordinated multi-drone operations. This strategy not only enhances precision in trajectory adherence but also ensures stable and robust distance control, making it highly effective for complex and dynamic flying scenarios.