An &#x210C;<inf>&#x221E;</inf>/&#x2113;<inf>1</inf> approach to cooperative control of multi-agent systems

Cooperative and Consensus-Based Approaches to Formation Control of Autonomous Vehicles

“…The subvectors ofr denote the average of the reference distancesr ik from agent i to its neighbors. Using the error defined in (6) as input to the locally controlled agents H(z), they form the global control loop shown in Fig. 1 (Pilz and Werner [2012a], Pilz et al [2009]).…”

“…As presented in Pilz and Werner [2012a], a synthesis problem can be derived from this condition by imposing an additional H ∞ condition for performance optimization: Problem 1. Find a controller K(z) that satisfies min…”

“…Robust stability of MAS under both unknown and switching topologies as well as unknown communication time delays is examined in and a stability condition is expressed as ℓ 1 condition. Based on this, in Pilz and Werner [2012a] an H ∞ /ℓ 1 controller design method is proposed, which allows to design a formation controller a-priori guaranteeing robust stability. Using this method, a cooperative formation controller for a group of quad-rotor helicopters is synthesized.…”

“…Furthermore, a comparison of this approach with the underlying ones is given based on a simulation study. Therein, controller synthesis techniques from Pilz and Werner [2012a] based on an H ∞ /ℓ 1 condition are used.…”

A Review on Distributed Control of Cooperating Mini UAVS

“…In [45], a formation controller has been designed to minimize H∞ performance measure while guaranteeing robust stability. The proposed method is also efficient in the sense that the synthesis procedure is based only on a single agent model, instead of a model of the whole formation with a possibly large number of agents.…”