Event-Based Time Varying Formation Control for Multiple Quadrotor UAVs with Markovian Switching Topologies

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/8124861/figures/8124861.fig.005a.svgz" name="8124861.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Evolution of the position states</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/8124861/figures/8124861.fig.005b.svgz" name="8124861.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Evolution of the attitude states</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/8124861/figures/8124861.fig.005c.svgz" name="8124861.fig.005c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Evolution of the velocity states</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/8124861/figures/8124861.fig.005d.svgz" name="8124861.fig.005d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Evolution of the angular velocity</td></tr></table>

<div>Trajectories of the agents within 50 s in Case <a href="https://static.hindawi.com/articles/complexity/volume-2018/8124861/figures/#casee1">1</a>.</div>

Complexity

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Figure 5

Figure 5: Event-Based Time Varying Formation Control for Multiple Quadrotor UAVs with Markovian Switching Topologies 