An ℌ∞/ℓ1 approach to cooperative control of multi-agent systems

This 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 pos...

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Hauptverfasser: Pilz, U., Werner, H.
Format: Tagungsbericht
Sprache:eng
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Beschreibung
Zusammenfassung:This 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 ℓ 1 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.
ISSN:0191-2216
DOI:10.1109/CDC.2012.6426879