Decentralized cooperative control for multivehicle formation without velocity measurement
Chaoyong Li · 2009
This paper addresses formation control problems using nonlinear cooperative control theory. In particular, incorporating with the inherent passivity of the tracking error dynamics associated with a general vehicle model, the decentralized formation control algorithms are developed for both leaderless and leader-follower formation scenarios. The proposed control algorithm can ensure the desired formation behavior with an intermittently available, time-varying, and uniformly sequentially complete topology. Furthermore, to facilitate the practical implementation, an auxiliary filter is introduced to develop a control input eliminating the velocity measurement, and accounting for the actuator saturation as well. The simulation results demonstrate the effectiveness of the proposed control scheme.