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Title
Japanese: 
English:Passivity Shortage-based Pose Synchronization in a Sampled Data Setting 
Author
Japanese: 平手 奨二, 伊吹 竜也, 三平 満司.  
English: Shoji Hirate, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the SICE Annual Conference 2018 
Volume, Number, Page         pp. 1133-1136
Published date Sept. 11, 2018 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2018 
Conference site
Japanese: 
English:Nara 
Abstract 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.

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