Robust controller design for formation flight of quad-rotor helicopters

Publikationstyp
Conference Paper
Date Issued
2009
Sprache
English
Author(s)
Pilz, Ulf  
Popov, Andrey  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14826
Journal
Proceedings of the IEEE Conference on Decision & Control  
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
48th IEEE Conference on Decision and Control, CDC 2009  
Publisher DOI
10.1109/CDC.2009.5400593
Scopus ID
2-s2.0-77950798009
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. ©2009 IEEE.
DDC Class
600: Technik
620: Ingenieurwissenschaften