Publisher DOI: 10.1109/ACC.2016.7525309
Title: Robust and gain-scheduled formation control techniques for multi-agent systems - Comparison and benchmark in a unified framework
Language: English
Authors: Bartels, Marcus 
Werner, Herbert 
Issue Date: 28-Jul-2016
Source: Proceedings of the American Control Conference (2016-July): 7525309, 2605-2610 (2016-07-28)
Abstract (english): 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.
Conference: 2016 American Control Conference, ACC 2016 
ISBN: 978-1-4673-8682-1
Institute: Regelungstechnik E-14 
Type: InProceedings (Aufsatz / Paper einer Konferenz etc.)
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