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.
This paper extends an previously proposed information flow filter approach to cooperative vehicle control to guarantee stability of a vehicle formation under arbitrary communication topologies. A systematic design technique for this information flow filter is the main contribution of this work. For this purpose an alternative interpretation of a separation theorem that allows the independent design of the information flow filter and the controllers for the vehicles is presented. The advantages of this approach are illustrated in simulation studies.
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