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Regulation control of multi-vehicle formation systems

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.
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Submitted on : Wednesday, December 5, 2012 - 6:21:50 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:08 AM




Mohamed Anouard El Kamel, Lotfi Beji, Azgal Abichou. Regulation control of multi-vehicle formation systems. International Journal of Vehicle Autonomous Systems, Inderscience, 2012, 10 (4), pp.355--373. ⟨10.1504/IJVAS.2012.051271⟩. ⟨hal-00761639⟩



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