イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2018/05
形態種別	学術雑誌
査読	査読あり
標題	Pose Synchronization for Quadrotor Networks under Fixed General Interconnection Topology: A Passivity Approach
執筆形態	共著(筆頭者)
掲載誌名	SICE Journal of Control, Measurement, and System Integration
掲載区分	国外
出版社・発行元	The Society of Instrument and Control Engineers (SICE)
巻・号・頁	11(3),pp.160-168
総ページ数	9
担当区分	筆頭著者,責任著者
著者・共著者	Tatsuya Ibuki, Satoshi Nakano, Mahato Endou, Mitsuji Sampei
概要	In this paper, a distributed 3-D pose synchronization law is proposed for a group of networked quadrotors. Thequadrotor network consisting of multiple quadrotors with dynamics and interconnection topology between them is first defined, and then, the definition of pose synchronization is provided. A novel pose synchronization law is next proposed,where linear approximation and passivation approaches are employed in the controller design. The former allows us to independently deal with the yaw, vertical, and horizontal motion dynamics of the quadrotor network, and the latter enables us to apply a passivity-based output synchronization technique. Convergence is next analyzed, and finally, the present pose synchronization law is demonstrated via simulation and an experiment to show its validity.