Event-Based Formation Control of Multiple Quadrotors on SO(3)

Table 2

Comparative results with different parameters.

Case	Parameters	Numbers of triggering in Quadrotors 1–5	Convergence time
1		(63, 64, 63, 62, 63)	19.12 s
2		(54, 54, 54, 55, 54)	19.24 s
3		(104, 105, 104, 103, 104)	18.70 s
4		(47, 48, 47, 46, 47)	19.29 s
5		(74, 75, 74, 72, 74)	19.09 s