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Robust and gain-scheduled formation control techniques for multi-agent systems - Comparison and benchmark in a unified framework
Publikationstyp
Conference Paper
Publikationsdatum
2016-07-28
Sprache
English
Institut
TORE-URI
Volume
2016
Start Page
2605
End Page
2610
Article Number
7525309
Citation
Proceedings of the American Control Conference (2016-July): 7525309, 2605-2610 (2016-07-28)
Contribution to Conference
Publisher DOI
Scopus ID
This paper provides a comparative study of distributed formation control approaches for multi-agent systems (MAS) subject to uncertain and time-varying communication topologies. A unified framework is proposed to describe this kind of systems for different control schemes. Based on that, two control schemes are examined: One is a robust controller design based on the small gain theorem with the l1 norm, the other one is dissipativity-based and employs techniques adopted from gain-scheduled LPV control. The results are evaluated by simulating a formation flight of quad-rotor helicopters. With both approaches satisfactory results are achieved; however the gain-scheduling-based approach proves most advantageous.
DDC Class
600: Technik
620: Ingenieurwissenschaften