Robust and gain-scheduled formation control techniques for multi-agent systems - comparison and benchmark in a unified framework
Marcus Bartels, Herbert Werner · 2016
This 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 ℓ1norm, 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.