An H∞/ℓ1 approach to cooperative control of multi-agent systems

Publikationstyp
Conference Paper
Date Issued
2012
Sprache
English
Author(s)
Pilz, Ulf  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14762
Journal
Proceedings of the IEEE Conference on Decision & Control  
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
51st IEEE Conference on Decision and Control, CDC 2012  
Publisher DOI
10.1109/CDC.2012.6426879
Scopus ID
2-s2.0-84874286761
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.
DDC Class
600: Technik
620: Ingenieurwissenschaften