Distance-Based Formation Control With Bounded Disturbances
Dung Van Vu, Minh Hoang Trinh, Phuoc Doan Nguyen, Hyo‐Sung Ahn · IEEE Control Systems Letters · 2020
In this letter, we study distance-based formation control of single- and double-integrator modeled agents with unknown bounded disturbances. We propose distributed control laws to simultaneously achieve the desired formation shape and eliminate the effects of disturbances. The stability of the systems under the proposed control laws is analyzed based on Lyapunov stability theory of nonsmooth systems and Barbalat's lemma. Further, sufficient conditions are given to ensure the system to approach the set of desired formation. Finally, simulation results are provided to support the analysis.