Regulation control of multi-vehicle formation systems
by Mohamed Anouar El Kamel; Lotfi Beji; Azgal Abichou
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 10, No. 4, 2012

Abstract: The paper deals with the stabilising control problem including regulation of multi-vehicle formation systems. By hypothesis, a stabilising control law leading to asymptotic/exponential formation's stabilities toward a target in an undisturbed environment is considered known. However, a novel form of the formation's control input resulting from disturbed agents is emphasised. It is considered as a regulation control-input for the system output regulation. The first part of the paper gives conditions on the uniform asymptotic stability of undisturbed systems with/without drift, and the second part shows the control regulation of system paths while avoiding a set of fixed points. Under an adjusted regulation control-input, the multi-vehicle formation system's convergence towards a set that surrounds the target is proved using LaSalle's invariance principle. The proposed stabilising control input is smooth among different multi-robot navigation cases.

Online publication date:: Wed, 31-Dec-2014

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