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

Beschreibung

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.

Autor*in

Ulf Pilz

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