Implementation of min-max time consensus tracking on a multi-quadrotor testbed

Apurva Joshi; Vishal Sawant; Debraj Chakraborty; Hoam Chung

doi:10.23919/ECC.2019.8795992

Implementation of min-max time consensus tracking on a multi-quadrotor testbed

Apurva Joshi, Vishal Sawant, Debraj Chakraborty, Hoam Chung

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

3 Citations (Scopus)

Abstract

This paper deals with the implementation of minmax time consensus tracking on a multi-quadrotor testbed. A leader quadrotor generates a reference trajectory onto which the remaining quadrotors converge in min-max time using a local feedback control strategy. This control strategy is known to be globally optimal. Further, the effect of finite communication/measurement rate on consensus tracking is analyzed and bounds on the resulting deviations of trajectories are characterized. The theoretical claims made are verified through experiments.

Original language	English
Title of host publication	2019 18th European Control Conference, ECC 2019
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1073-1078
Number of pages	6
ISBN (Electronic)	9783907144008
DOIs	https://doi.org/10.23919/ECC.2019.8795992
Publication status	Published - 1 Jun 2019
Event	European Control Conference 2019 - Naples, Italy Duration: 25 Jun 2019 → 28 Jun 2019 Conference number: 18th https://ecc19.eu/ https://ieeexplore.ieee.org/xpl/conhome/8778424/proceeding (Proceedings)

Publication series

Name	2019 18th European Control Conference, ECC 2019

Conference

Conference	European Control Conference 2019
Abbreviated title	ECC 2019
Country/Territory	Italy
City	Naples
Period	25/06/19 → 28/06/19
Internet address	https://ecc19.eu/ https://ieeexplore.ieee.org/xpl/conhome/8778424/proceeding (Proceedings)

Access to Document

10.23919/ECC.2019.8795992

Cite this

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title = "Implementation of min-max time consensus tracking on a multi-quadrotor testbed",

abstract = "This paper deals with the implementation of minmax time consensus tracking on a multi-quadrotor testbed. A leader quadrotor generates a reference trajectory onto which the remaining quadrotors converge in min-max time using a local feedback control strategy. This control strategy is known to be globally optimal. Further, the effect of finite communication/measurement rate on consensus tracking is analyzed and bounds on the resulting deviations of trajectories are characterized. The theoretical claims made are verified through experiments.",

author = "Apurva Joshi and Vishal Sawant and Debraj Chakraborty and Hoam Chung",

year = "2019",

month = jun,

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doi = "10.23919/ECC.2019.8795992",

language = "English",

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publisher = "IEEE, Institute of Electrical and Electronics Engineers",

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booktitle = "2019 18th European Control Conference, ECC 2019",

address = "United States of America",

note = "European Control Conference 2019, ECC 2019 ; Conference date: 25-06-2019 Through 28-06-2019",

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Joshi, A, Sawant, V, Chakraborty, D & Chung, H 2019, Implementation of min-max time consensus tracking on a multi-quadrotor testbed. in 2019 18th European Control Conference, ECC 2019. 2019 18th European Control Conference, ECC 2019, IEEE, Institute of Electrical and Electronics Engineers, pp. 1073-1078, European Control Conference 2019, Naples, Italy, 25/06/19. https://doi.org/10.23919/ECC.2019.8795992

Implementation of min-max time consensus tracking on a multi-quadrotor testbed. / Joshi, Apurva; Sawant, Vishal; Chakraborty, Debraj et al.
2019 18th European Control Conference, ECC 2019. IEEE, Institute of Electrical and Electronics Engineers, 2019. p. 1073-1078 (2019 18th European Control Conference, ECC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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AB - This paper deals with the implementation of minmax time consensus tracking on a multi-quadrotor testbed. A leader quadrotor generates a reference trajectory onto which the remaining quadrotors converge in min-max time using a local feedback control strategy. This control strategy is known to be globally optimal. Further, the effect of finite communication/measurement rate on consensus tracking is analyzed and bounds on the resulting deviations of trajectories are characterized. The theoretical claims made are verified through experiments.

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Y2 - 25 June 2019 through 28 June 2019

ER -

Implementation of min-max time consensus tracking on a multi-quadrotor testbed

Abstract

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