Bartels, MarcusMarcusBartelsWerner, HerbertHerbertWerner2020-03-132020-03-132016-07-28Proceedings of the American Control Conference (2016-July): 7525309, 2605-2610 (2016-07-28)http://hdl.handle.net/11420/5350This 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.enTechnikIngenieurwissenschaftenConference Paper10.1109/ACC.2016.7525309Other