Pilz, UlfUlfPilzWerner, HerbertHerbertWerner2023-02-082023-02-082012Proceedings of the IEEE Conference on Decision and Control (): 6426879 5930-5935 (2012)http://hdl.handle.net/11420/14762This paper proposes a multi-objective controller synthesis strategy for the design of distributed formation control schemes for multi-agent systems. The agents are modeled as identical linear discrete-time invariant systems. The proposed synthesis method is based on a recent analysis result that poses a constraint on a closed-loop ℓ1 norm to guarantee robust stability of a formation under arbitrary switching in the communication topology and time-varying communication delays. It is shown how formation controllers can be designed to minimize a H∞ performance measure while guaranteeing robust stability. The method is illustrated by simulation studies with a formation of quad-rotor helicopters. © 2012 IEEE.en0743-1546201259305935IEEETechnikIngenieurwissenschaftenConference Paper10.1109/CDC.2012.6426879Other