2025/12/17 by Dennisselvan, Sahaya Aarti, Kumar, Shashi Ranjan, Mukherjee, Dwaipayan
Computer Science · Engineering · #Control and Stability of Dynamical Systems #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Nonlinear Dynamics and Pattern Formation #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2512.15225
openalex publication_date 2025/12/17 · openalex created_date 2025/12/19 · openalex updated_date 2026/07/28
This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved that through a suitable choice of a single controller parameter, consensus and stability of the resulting networked dynamical system can be ensured. This further opens up the possibility of achieving a desired formation and to move a swarm of quadrotors, interacting over ring digraphs, at a desired flight velocity, using a single controller gain. An analysis of achievable velocities is performed. Examples have been provided to offer deeper insights into the obtained analytical results. Simulation studies clearly demonstrate that a desired formation is achieved, starting from arbitrary initial positions, while also ensuring convergence to a final desired flight velocity.