This paper studies pose synchronization of networked sigid bodies with quadrotor-type motion in a sampled data setting. A discrete-time kinematic model of the rigid bodies is first derived, and it is shown that the model is passivity short. Then, distributed control laws to achieve pose synchronization are proposed based on the passivity shortage, and convergence is analyzed. An experiment with five quadrotors is finally conducted for verification.
各種検索
サポート
ヘルプ