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Distributed formation control of multi-agent systems
Citation Link: https://doi.org/10.15480/882.2843
Publikationstyp
Doctoral Thesis
Date Issued
2020
Sprache
English
Author(s)
Advisor
Referee
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2019-09-19
Institut
TORE-DOI
TORE-URI
Citation
Dr. Hut (2020)
Publisher
Dr. Hut
This thesis addresses distributed control of multi-agent systems with a focus on formation flight control. As a central contribution, a novel controller synthesis scheme has been developed based on a descriptor representation of the multi-agent system and successfully tested in simulation. Furthermore, existing control approaches have been examined in a simulation study and a new architecture has been introduced, combining the advantages of existing schemes. Aiming at experimental validation, experimental setups involving multiple quad-rotor helicopters have been developed and are presented together with early experimental results.
Subjects
Distributed Control
Multi-agent systems
Formation flight control
Quad-rotor helicopters
Linear parameter-varying systems
Descriptor systems
DDC Class
620: Ingenieurwissenschaften
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BartelsMarcus_2020_Diss_17072020.pdf
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