ISBN 9783843944496

978-3-8439-4449-6, Reihe Regelungstechnik

Marcus Bartels
Distributed Formation Control of Multi-Agent Systems

166 Seiten, Dissertation Technische Universität Hamburg (2019), Softcover, A5

Zusammenfassung / Abstract

This thesis addresses distributed control of multi-agent systems with a focus on formation flight control. As a central contribution, a novel controller synthesis scheme has been developed based on a descriptor representation of the multi-agent system and successfully tested in simulation. Furthermore, existing control approaches are examined in a simulation study and a new architecture is introduced, combining the advantages of existing schemes. For experimental validation, experimental setups involving multiple quad-rotor helicopters have been developed and are presented together with early experimental results.