ISBN 9783843915526

978-3-8439-1552-6, Reihe Ingenieurwissenschaften

Ulf Pilz
Cooperative Control of Multi-Agent Systems with Application to Quadrotor Helicopters

144 Seiten, Dissertation Technische Universität Hamburg-Harburg (2013), Softcover, A5

Zusammenfassung / Abstract

This thesis focuses on the analysis and synthesis of multi-agent systems. The following problems are considered: the analysis of multi-agent systems with switching communication topologies and communication and self-delays and the synthesis of multi-objective controllers that guarantee a priori robust stability and performance. Furthermore, it is shown in this work how the developed formation control algorithm has been implemented on a quadrotor helicopter testbed and validated in experimental flights.