Motion Coordination for VTOL Unmanned Aerial Vehicles by Abdelkader Abdessameud & Abdelhamid Tayebi

Author:Abdelkader Abdessameud & Abdelhamid Tayebi
Language: eng
Format: epub
Publisher: Springer London, London

Proof

The proof follows similar steps as in the proof of Theorems 4.2 and 4.3 and is omitted. □

4.2.2 Case of Directed Networks and Constant Communication Delays

In this subsection, we provide an alternative design of the input of the virtual systems leading to attitude synchronization in the case of a directed communication graph denoted by . For this purpose, we assume that the communication delays are constant.

4.2.2.1 Leaderless Attitude Synchronization

To solve the leaderless attitude synchronization problem with zero final velocity, consider the following virtual angular velocity in (4.21) and (4.25):

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