Robust decentralized switching control of UAVs using UWB-based localization and cooperation

Joao P. Jansch-Porto, Geir E. Dullerud

Research output: Contribution to journalConference articlepeer-review


In this paper, we implement a switched decentralized controller, along with a proposed communication protocol, to control a nested multi-agent system without the need for a centralized processing node. More specifically, we apply a recently developed method for switched systems synthesis, which gives exact conditions for existence of a block-lower triangular path-dependent controller with l2-induced norm performance. The synthesis conditions are given in the form of a semidefinite program (SDP), which is computed offline for a predefined switching sequence. Each robot is equipped with a ultra-wideband (UWB) unit, which allows it to both estimate its position and communicate with other robots.

Original languageEnglish (US)
Pages (from-to)7418-7423
Number of pages6
Issue number2
StatePublished - 2020
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: Jul 12 2020Jul 17 2020


  • Control of switched systems
  • Decentralized control
  • Flying robots
  • Multi-vehicle systems
  • Networked robotic systems
  • Robust control applications

ASJC Scopus subject areas

  • Control and Systems Engineering


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