| Presentation | 2021-03-16 Pinning consensus control of a group of quadrotors modeled by a directed acyclic graph Akinori Sakaguchi, Toshimitsu Ushio, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | pinning consensus control / consensus speed / directed acyclic graph / a group of quadrotors / multi-agent systems |
| Paper # | MSS2020-50 |
| Date of Issue | 2021-03-08 (MSS) |
| Conference Information | |
| Committee | NLP / MSS |
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| Conference Date | 2021/3/15(2days) |
| 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. |
| Chair | Kiyohisa Natsume(Kyushu Inst. of Tech.) / Shigemasa Takai(Osaka Univ.) |
| Vice Chair | Takuji Kosaka(Chukyo Univ.) / Atsuo Ozaki(Osaka Inst. of Tech.) |
| Secretary | Takuji Kosaka(Kyushu Inst. of Tech.) / Atsuo Ozaki(Kagawa Univ.) |
| Assistant | Toshikaza Samura(Yamaguchi Univ.) / Hideyuki Kato(Oita Univ.) / Naoki Hayashi(Osaka Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Nonlinear Problems / Technical Committee on Mathematical Systems Science and its Applications |
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| Language | JPN |
| 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) | |
| Keyword(1) | pinning consensus control |
| Keyword(2) | consensus speed |
| Keyword(3) | directed acyclic graph |
| Keyword(4) | a group of quadrotors |
| Keyword(5) | multi-agent systems |
| 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.) |
| Date | 2021-03-16 |
| Paper # | MSS2020-50 |
| Volume (vol) | vol.120 |
| Number (no) | MSS-429 |
| Page | pp.pp.33-36(MSS), |
| #Pages | 4 |
| Date of Issue | 2021-03-08 (MSS) |