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

Apurva Joshi, Vishal Sawant, Debraj Chakraborty, Hoam Chung

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

1 Citation (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 languageEnglish
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1073-1078
Number of pages6
ISBN (Electronic)9783907144008
DOIs
Publication statusPublished - 1 Jun 2019
EventEuropean Control Conference 2019 - Naples, Italy
Duration: 25 Jun 201928 Jun 2019
Conference number: 18th
https://ecc19.eu/
https://ieeexplore.ieee.org/xpl/conhome/8778424/proceeding (Proceedings)

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

ConferenceEuropean Control Conference 2019
Abbreviated titleECC 2019
CountryItaly
CityNaples
Period25/06/1928/06/19
Internet address

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