Pilz, UlfUlfPilzPopov, AndreyAndreyPopovWerner, HerbertHerbertWerner2023-02-142023-02-142009Proceedings of the 48th IEEE Conference on Decision and Control, 2009 : held jointly with the 2009 28th Chinese Control Conference ; CDC/CCC 2009 ; 15 - 18 Dec. 2009, Shanghai, China. - Piscataway, NJ, 2009. - Art. no. 5400593 8322-8327 (2009)http://hdl.handle.net/11420/14826In this paper we present an application of a recently developed strategy for robust distributed controller design for formations and show a way of including performance requirements in the design. The proposed synthesis method guarantees stability for all possible formations and arbitrary fast changes in the communication topology. The number of agents in the formation can also be chosen arbitrarily. We illustrate the results by performing a simulation of a formation flight of quad-rotor helicopters. ©2009 IEEE.en0743-1546200983228327IEEETechnikIngenieurwissenschaftenConference Paper10.1109/CDC.2009.5400593Other