Distributed formation control of multi-agent systems

Publikationstyp
Doctoral Thesis
Publikationsdatum
2020
Sprache
English
Author
Bartels, Marcus 
Advisor
Werner, Herbert 
Referee
Weltin, Uwe 
Pan, Ya-Jun 
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2019-09-19
Institut
Regelungstechnik E-14 
DOI
10.15480/882.2843
TORE-URI
http://hdl.handle.net/11420/6727
Citation
Dr. Hut (2020)
Publisher
Dr. Hut
This thesis addresses distributed control of multi-agent systems with a focus on formation flight control. As a central contribution, a novel controller synthesis scheme has been developed based on a descriptor representation of the multi-agent system and successfully tested in simulation. Furthermore, existing control approaches have been examined in a simulation study and a new architecture has been introduced, combining the advantages of existing schemes. Aiming at experimental validation, experimental setups involving multiple quad-rotor helicopters have been developed and are presented together with early experimental results.
Schlagworte
Distributed Control
Multi-agent systems
Formation flight control
Quad-rotor helicopters
Linear parameter-varying systems
Descriptor systems
DDC Class
620: Ingenieurwissenschaften
Lizenz
http://rightsstatements.org/vocab/InC/1.0/
Thumbnail Image
Name

BartelsMarcus_2020_Diss_17072020.pdf

Size

3.56 MB

Format

Adobe PDF