Conference Paper Passivity-based Pose Synchronization for Quadrotors under General Digraphs

伊吹, 竜也  ,  Ibuki, Tatsuya  ,  遠藤, 眞覇人  ,  Endou, Mahato  ,  三平, 満司  ,  SAMPEI, MITSUJI

This paper proposes a distributed 3D pose synchronization law to achieve a common pose with a desired trajectory for a group of quadrotors. The dynamics of networked quadrotors is first derived, and a pose synchronization scheme is proposed. In the present controller design, linear approximation and passivation techniques are employed, which respectively enable to independently handle the yaw angle, vertical position, and horizontal position dynamics and apply a passivity-based output synchronization approach. Then, convergence analysis is provided, the effectiveness of the present synchronization law is demonstrated through simulation, and an experimental testbed is finally introduced.

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