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

Table 1

The system parameters of quadrotor UAVs.

Parameters	Nominal value	Parameters	Nominal value
			N/m⋅s^−1
	kg		N/m⋅s^−1
	kg⋅m^2		N/m⋅s^−1
	kg⋅m^2		N/rad⋅s^−1
	kg⋅m^2		N/rad⋅s^−1
	9.81 m/s^2		N/rad⋅s^−1
	0.40 N⋅m