Abstract
This paper presents a distributed robust control scheme for the formation flight of autonomous aerial vehicles, which is obtained from combining two existing approaches: cooperative and consensus-based formation control. These schemes are examined using a mixed ℋ∞/ℓ1 design approach to provide robustness against arbitrary changes of the communication topology as well as any communication delays. The presented architectures mainly differ in the coupling of the agents, which influences performance and formation maintenance. Furthermore, these approaches are analyzed by means of a simulation study on a group of quad-rotor helicopters. The results indicate significant benefits from combining these existing schemes.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
