Title: Trajectory constraints for robust vehicle formation control
Authors: Fernando Pereira , João Sousa , Jorge Silva
Abstract: The problem of vehicle formation control is dealt in the framework of differential games. Robust feedback control laws are synthesized using dynamic programming techniques. Invariance analysis is used to determine the region of attraction of each vehicle in the formation in the worst case scenario, assuming bounded disturbances and paths with bounded curvature. A reference governor, to be used when one or more vehicles are outside their respective region of attraction, is also designed. The feasibility of the proposed strategy is illustrated through numerical simulation.
Publication date: 2012-07-16
Online entry date: 2013-05-08
Conference: CONTROLO’2012
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