Formation Control of Multiple Autonomous Vehicle Systems

4 Output‐feedback Solutions to Formation Control

4.1 Introduction

For an angular‐position synchronization control problem or a formation control problem, we may view the (linear or angular) position signals as the output of the considered MVS. In this chapter, we introduce a comprehensive treatment of angular‐position synchronization control and formation control without velocity signals. These control problems are two typical output feedback control problems associated with MVSs.

4.2 Problem Statement

Recall the following MVS model:

(4.1)

where denotes the linear (or angular) position of vehicle and serves as the output of the th vehicle system, is the corresponding linear (or angular) velocity, and is the control input. For simplicity, we here assume that the dimensions of all the involved variables is 1.

In this section, we mainly introduce the design of synchronization ...