A robust control approach to formation control

Publikationstyp
Conference Paper
Date Issued
2009
Sprache
English
Author(s)
Popov, Andrey  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14825
Start Page
4428
End Page
4433
Article Number
7075097
Citation
2009 European Control Conference, ECC 2009 (): 7075097 4428-4433 (2009)
Contribution to Conference
10th European Control Conference, ECC 2009  
Publisher DOI
10.23919/ecc.2009.7075097
Scopus ID
2-s2.0-84955203216
Publisher
IEEE
This paper considers formation control for multiagent systems (vehicles, robots, satellites, etc.) and is based on the work of Fax and Murray [1], which provides a link between graph theory and the formation control problem for a given communication topology. We propose a distributed controller H∞ and μ synthesis techniques that can guarantee the stability of the multi-agent system for any number of agents and any communication topology. Two examples illustrate the proposed method.
DDC Class
600: Technik
620: Ingenieurwissenschaften