||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.