This paper proposes a passivity-based dynamic pose synchronization for quadrotors. First, we describe a model for the quadrotor and get 3 linear dynamics of the yaw angle, height, and horizontal position, which are independent of each other. Next, we consider input transformations for the dynamics to be passive and develop passivity-based distributed control laws to achieve synchronization. We also prove that quadrotors track the target trajectories of velocity and roll-pitch angles with the control laws.
Finally, we demonstrate the effectiveness of the present control laws through numerical simulations.
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