Paper Abstract and Keywords |
Presentation |
2021-03-16 09:40
Pinning consensus control of a group of quadrotors modeled by a directed acyclic graph Akinori Sakaguchi, Toshimitsu Ushio (Osaka Univ.) MSS2020-50 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
In this study, we consider a pinning consensus control problem with a given altitude for a group of heterogeneous quadrotors connected by a directed acyclic graph.
First, we model the network structure of the quadrotor group and derive the altitude dynamics of the quadrotor.
Then, we show that the consensus speed and its upper bound depend on the mass of each quadrotor, the gain of the controller, and the indegrees of nodes in the graph.
Finally, by simulation we confirm that all quadrotors can achieve the desired altitude consensus. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
pinning consensus control / consensus speed / directed acyclic graph / a group of quadrotors / multi-agent systems / / / |
Reference Info. |
IEICE Tech. Rep., vol. 120, no. 429, MSS2020-50, pp. 33-36, March 2021. |
Paper # |
MSS2020-50 |
Date of Issue |
2021-03-08 (MSS) |
ISSN |
Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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MSS2020-50 |
Conference Information |
Committee |
NLP MSS |
Conference Date |
2021-03-15 - 2021-03-16 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Online |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
MSS, NLP, Work In Progress (MSS only), and etc. |
Paper Information |
Registration To |
MSS |
Conference Code |
2021-03-NLP-MSS |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Pinning consensus control of a group of quadrotors modeled by a directed acyclic graph |
Sub Title (in English) |
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pinning consensus control |
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consensus speed |
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directed acyclic graph |
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a group of quadrotors |
Keyword(5) |
multi-agent systems |
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1st Author's Name |
Akinori Sakaguchi |
1st Author's Affiliation |
Osaka University (Osaka Univ.) |
2nd Author's Name |
Toshimitsu Ushio |
2nd Author's Affiliation |
Osaka University (Osaka Univ.) |
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Speaker |
Author-1 |
Date Time |
2021-03-16 09:40:00 |
Presentation Time |
25 minutes |
Registration for |
MSS |
Paper # |
MSS2020-50 |
Volume (vol) |
vol.120 |
Number (no) |
no.429 |
Page |
pp.33-36 |
#Pages |
4 |
Date of Issue |
2021-03-08 (MSS) |
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