DC FieldValueLanguage
dc.contributor.authorBartels, Marcus-
dc.contributor.authorWerner, Herbert-
dc.date.accessioned2023-01-24T16:47:28Z-
dc.date.available2023-01-24T16:47:28Z-
dc.date.issued2014-
dc.identifier.citationIFAC Proceedings Volumes 19: 8079-8084 (2014)de_DE
dc.identifier.isbn9783902823625de_DE
dc.identifier.issn1474-6670de_DE
dc.identifier.urihttp://hdl.handle.net/11420/14661-
dc.description.abstractThis 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.en
dc.language.isoende_DE
dc.relation.ispartofIFAC Proceedings Volumesde_DE
dc.titleCooperative and consensus-based approaches to formation control of autonomous vehiclesde_DE
dc.typeinProceedingsde_DE
dc.type.dinicontributionToPeriodical-
dcterms.DCMITypeText-
tuhh.abstract.englishThis 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.de_DE
tuhh.publisher.doi10.3182/20140824-6-za-1003.01652-
tuhh.publication.instituteRegelungstechnik E-14de_DE
tuhh.type.opusInProceedings (Aufsatz / Paper einer Konferenz etc.)-
dc.type.drivercontributionToPeriodical-
dc.type.casraiConference Paper-
tuhh.container.volume19de_DE
tuhh.container.startpage8079de_DE
tuhh.container.endpage8084de_DE
dc.identifier.scopus2-s2.0-84929815812-
datacite.resourceTypeGeneralConferencePaper-
item.mappedtypeinProceedings-
item.fulltextNo Fulltext-
item.creatorGNDBartels, Marcus-
item.creatorGNDWerner, Herbert-
item.openairecristypehttp://purl.org/coar/resource_type/c_5794-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.languageiso639-1en-
item.creatorOrcidBartels, Marcus-
item.creatorOrcidWerner, Herbert-
item.openairetypeinProceedings-
crisitem.author.deptRegelungstechnik E-14-
crisitem.author.deptRegelungstechnik E-14-
crisitem.author.orcid0000-0003-3456-5539-
crisitem.author.parentorgStudiendekanat Elektrotechnik, Informatik und Mathematik (E)-
crisitem.author.parentorgStudiendekanat Elektrotechnik, Informatik und Mathematik (E)-
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