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

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Autonomous Systems (IJVAS):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com