Path Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agents
Conference object, Journal article, Peer reviewed

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Date
2015Metadata
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Abstract
This paper considers straight-line path following for
inhomogeneous formations with underactuated agents. The formation
can be comprised of agents with different dynamics that are each
affected by a different unknown environmental disturbance. Formation
path following is achieved using a twofold strategy consisting of
a guidance law to steer each vessel to a predefined path and a
decentralised nonlinear formation control law utilising local information
only to synchronise the agents position along the path such that a
desired formation is achieved. The resulting closed-loop error dynamics
consisting of the path-following error dynamics and formation error
dynamics is analysed using theory for feedback-interconnected systems.
The origin of the closed-loop error dynamics is shown to be uniformly
globally asymptotically stable. The control strategy is validated with
simulation results in a case study.