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Robust controller design for formation flight of quad-rotor helicopters

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3 Author(s)
Pilz, U. ; Inst. of Control Syst., Hamburg Univ. of Technol., Hamburg, Germany ; Popov, A.P. ; Werner, H.

In 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.

Published in:

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Date of Conference:

15-18 Dec. 2009

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