Novel decentralised formation control for unmanned vehicles

Aolei Yang; Wasif Naeem; George Irwin; Kang Li

doi:10.1109/IVS.2012.6232122

Novel decentralised formation control for unmanned vehicles

Aolei Yang, Wasif Naeem, George Irwin, Kang Li

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H∞ robust control strategy is applied to design the decentralised formation controllers to reject the interactions and work jointly to maintain the stability of the overall formation. Simulation studies have been performed to verify its performance and effectiveness.

Original language	English
Title of host publication	2012 IEEE Intelligent Vehicles Symposium (IV)
Pages	13-18
Number of pages	6
DOIs	https://doi.org/10.1109/IVS.2012.6232122
Publication status	Published - 07 Jun 2012
Event	IEEE Intelligent Vehicles Symposium (IV 2012) - Madrid, Spain Duration: 01 Jun 2012 → 01 Jun 2012

Conference

Conference	IEEE Intelligent Vehicles Symposium (IV 2012)
Country	Spain
City	Madrid
Period	01/06/2012 → 01/06/2012

Access to Document

10.1109/IVS.2012.6232122

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title = "Novel decentralised formation control for unmanned vehicles",

abstract = "This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H∞ robust control strategy is applied to design the decentralised formation controllers to reject the interactions and work jointly to maintain the stability of the overall formation. Simulation studies have been performed to verify its performance and effectiveness.",

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AB - This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H∞ robust control strategy is applied to design the decentralised formation controllers to reject the interactions and work jointly to maintain the stability of the overall formation. Simulation studies have been performed to verify its performance and effectiveness.

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