Publisher DOI: 10.3182/20140824-6-za-1003.01652
Title: Cooperative and consensus-based approaches to formation control of autonomous vehicles
Language: English
Authors: Bartels, Marcus 
Werner, Herbert 
Issue Date: 2014
Source: IFAC Proceedings Volumes 19: 8079-8084 (2014)
Abstract (english): 
This paper presents a distributed robust control scheme for the formation flight of autonomous aerial vehicles, which is obtained from combining two existing approaches: cooperative and consensus-based formation control. These schemes are examined using a mixed H∞/ℓ1 design approach to provide robustness against arbitrary changes of the communication topology as well as any communication delays. The presented architectures mainly differ in the coupling of the agents, which influences performance and formation maintenance. Furthermore, these approaches are analyzed by means of a simulation study on a group of quad-rotor helicopters. The results indicate significant benefits from combining these existing schemes.
URI: http://hdl.handle.net/11420/14661
ISBN: 9783902823625
ISSN: 1474-6670
Journal: IFAC Proceedings Volumes 
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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