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Robust controller design for formation flight of quad-rotor helicopters
Publikationstyp
Conference Paper
Date Issued
2009
Sprache
English
Author(s)
Institut
Volume
2009
Start Page
8322
End Page
8327
Article Number
5400593
Citation
Proceedings of the 48th IEEE Conference on Decision and Control, 2009 : held jointly with the 2009 28th Chinese Control Conference ; CDC/CCC 2009 ; 15 - 18 Dec. 2009, Shanghai, China. - Piscataway, NJ, 2009. - Art. no. 5400593 8322-8327 (2009)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
In this paper we present an application of a recently developed strategy for robust distributed controller design for formations and show a way of including performance requirements in the design. The proposed synthesis method guarantees stability for all possible formations and arbitrary fast changes in the communication topology. The number of agents in the formation can also be chosen arbitrarily. We illustrate the results by performing a simulation of a formation flight of quad-rotor helicopters.
DDC Class
600: Technik
620: Ingenieurwissenschaften