Stability Analysis and Implementation of a Decentralized Formation Control Strategy for Unmanned Vehicles

Aolei Yang, Wasif Naeem, George W. Irwin, Kang Li

Research output: Contribution to journalArticle

51 Citations (Scopus)
636 Downloads (Pure)


This paper presents a new methodology for solving the multi-vehicle formation control problem. It employs a unique extension-decomposition-aggregation scheme to transform the overall complex formation control problem into a group of subproblems, which work via boundary interactions or disturbances. Thus, it is proved that the overall formation system is exponentially stable in the sense of Lyapunov, if all the individual augmented subsystems (IASs) are stable. Linear matrix inequality-based H8 control methodology is employed to design the decentralized formation controllers to reject the impact of the formation changes being treated as boundary disturbances and guarantee the stability of all the IASs, consequently maintaining the stability of the overall formation system. Simulation studies are performed to verify the stability, performance, and effectiveness of the proposed strategy.
Original languageEnglish
Pages (from-to)706-720
Number of pages15
JournalIEEE Transactions on Control Systems Technology
Issue number2
Early online date17 May 2013
Publication statusPublished - Mar 2014


  • Decentralized formation control
  • formation stability
  • H ∞ robust control
  • linear matrix inequality (LMI) optimization
  • Lyapunov stability

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    R1010CIV: EPSRC EP/G042594/1 'UK - China'

    Basheer, M. & Bai, Y.


    Project: Research

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