Decentralised formation control and stability analysis for cooperative multi-vehicle manoeuvre

Aolei Yang, Wasif Naeem, Minrui Fei

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


Multi-vehicle cooperative formation control problem is an important and typical topic of research on multi-agent system. This paper presents a formation stability conjecture to conceive a new methodology for solving the decentralised multi-vehicle formation control problem. It employs the “extension-decomposition-aggregation” scheme to transform the complex multi-agent control problem into a group of sub-problems which is able to be solved conveniently. Based on this methodology, it is proved that if all the individual augmented subsystems can be stabilised by using any approach, the overall formation system is not only asymptotically but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. Simulation study on 6-DOF aerial vehicles (Aerosonde UAVs) has been performed to verify the achieved formation stability result. The proposed multi-vehicle formation control strategy can be conveniently extended to other cooperative control problems of multi-agent systems.
Original languageEnglish
Pages (from-to)92-100
Number of pages9
JournalIEEE/CAA Journal of Automatica Sinica
Issue number1
Publication statusPublished - Jan 2014

Fingerprint Dive into the research topics of 'Decentralised formation control and stability analysis for cooperative multi-vehicle manoeuvre'. Together they form a unique fingerprint.

Cite this