Hassan Sayyaadi - Associate Professor, Mechanical Engineering Department of Sharif University of Technology
Ali Soltani - PhD Student, Mechanical Engineering Department of Sharif University of Technology

In this paper deployment of distributed system of agents with unstable various same order dynamics is studied. A new method of designing control law for deployment ofsuch systems has been provided. In this method, it does not need to stabilize each agent one by one to use in multi-agent systems which is time consuming. This method is based on robust control methods such as H∞. In addition, algorithm of deployment of multi-agent systems is obtained by solving facility location optimization problem which is modeled by geometrical concepts such as voronoi, geometric median and etc. In other hand, the algorithm found in this paper is scalable, asynchronous and distributed. The simulation of derived control law is demonstrated on ۴ Quadrotors in an unstable attitude. It shows the ability of the method of designing controller.

Deployment, Multi-agent, Unstable Dynamics, Robust Control, H∞, Quadrotor