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Title
Japanese: 
English:Passivity-based Pose Synchronization for Quadrotors under General Digraphs 
Author
Japanese: 伊吹 竜也, 遠藤 眞覇人, 三平 満司.  
English: Tatsuya Ibuki, Mahato Endou, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the SICE Annual Conference 2017 
Volume, Number, Page         pp. 764-769
Published date Sept. 19, 2017 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2017 
Conference site
Japanese: 
English:Kanazawa 
DOI https://doi.org/10.23919/SICE.2017.8105759
Abstract 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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