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This paper proposes a distributed 3D pose synchronization law to achieve a common pose with a desired trajectory for a group of quadrotors. The dynamics of networked quadrotors is first derived, and a pose synchronization scheme is proposed. In the present controller design, linear approximation and passivation techniques are employed, which respectively enable to independently handle the yaw angle,...
This paper considers inverse optimal control design for an inverted pendulum with three-dimensional movements. We show that the inverted pendulum model can be transformed into the bilinear system via a quadratic approximation and coordinate/input transformations. Then, the inverse optimal controller proposed in one of our previous works is applied to the resulting bilinear system. We next show that...
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