Title: Regulation control of multi-vehicle formation systems

Authors: Mohamed Anouar El Kamel; Lotfi Beji; Azgal Abichou

Addresses: The IBISC EA-4526 & LIM Laboratories, University of Evry, 40, rue du Pelvoux, 91020 Evry, cedex, France ' The IBISC EA-4526 Laboratory, University of Evry, 40 rue du Pelvoux, 91020 Evry cedex, France ' The LIM Laboratory, Polytechnic School of Tunisia, BP 743, 2078 La Marsa, Tunisia

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.

Keywords: multi-vehicle formation; obstacle avoidance; stabilisation; regulation control; multiple vehicles; collision avoidance; stabilising control; multi-robot systems; robot navigation; robot control; multiple robots; mobile robots.

DOI: 10.1504/IJVAS.2012.051271

International Journal of Vehicle Autonomous Systems, 2012 Vol.10 No.4, pp.355 - 373

Received: 08 Mar 2011
Accepted: 25 Dec 2011

Published online: 29 Dec 2012 *

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