Pose Synchronization for Quadrotor Networks under Fixed General Interconnection Topology: A Passivity Approach

Abstract

In this paper, a distributed 3-D pose synchronization law is proposed for a group of networked quadrotors. The quadrotor 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.

Keywords

• quadrotor network
• cooperative control
• synchronization
• passivity