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An H∞/ℓ1 approach to cooperative control of multi-agent systems
Publikationstyp
Conference Paper
Date Issued
2012
Sprache
English
Author(s)
Institut
Volume
2012
Start Page
5930
End Page
5935
Article Number
6426879
Citation
Proceedings of the IEEE Conference on Decision and Control (): 6426879 5930-5935 (2012)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
This paper proposes a multi-objective controller synthesis strategy for the design of distributed formation control schemes for multi-agent systems. The agents are modeled as identical linear discrete-time invariant systems. The proposed synthesis method is based on a recent analysis result that poses a constraint on a closed-loop ℓ1 norm to guarantee robust stability of a formation under arbitrary switching in the communication topology and time-varying communication delays. It is shown how formation controllers can be designed to minimize a H∞ performance measure while guaranteeing robust stability. The method is illustrated by simulation studies with a formation of quad-rotor helicopters. © 2012 IEEE.
DDC Class
600: Technik
620: Ingenieurwissenschaften