Novel decentralised formation control for unmanned vehicles

Aolei Yang, Wasif Naeem, George Irwin, Kang Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)


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 languageEnglish
Title of host publication2012 IEEE Intelligent Vehicles Symposium (IV)
Number of pages6
Publication statusPublished - 07 Jun 2012
EventIEEE Intelligent Vehicles Symposium (IV 2012) - Madrid, Spain
Duration: 01 Jun 201201 Jun 2012


ConferenceIEEE Intelligent Vehicles Symposium (IV 2012)


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