Title :
A robust control approach to formation control
Author :
Popov, Andrey P. ; Werner, Herbert
Author_Institution :
Inst. of Control Syst., Hamburg Univ. of Technol., Hamburg, Germany
Abstract :
This paper considers formation control for multiagent systems (vehicles, robots, satellites, etc.) and is based on the work of Fax and Murray [1], which provides a link between graph theory and the formation control problem for a given communication topology. We propose a distributed controller H∞ and μ synthesis techniques that can guarantee the stability of the multi-agent system for any number of agents and any communication topology. Two examples illustrate the proposed method.
Keywords :
H∞ control; control system synthesis; distributed control; graph theory; mobile robots; multi-robot systems; robust control; μ synthesis technique; H∞ technique; communication topology; distributed controller; graph theory; multiagent system formation control; multiagent system stability; robust control approach; Eigenvalues and eigenfunctions; Laplace equations; Robustness; Stability criteria; Topology; Uncertainty;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
