Robust Formation Control Funded by AFRL/ AFOSR within the Collaborative Center of Control Science. |
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Graduate students supported: Xingping Chen (Ph.D Candidate), Zhen Zhang (Ph.D Candidate). |
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Expected completion of the
project: June 2006. |
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The main topic within this
project addresses the use of internal-model based techniques
and nonlinear input-output stabilization methods in the design of
robust, decentralized control architectures for formation
control of autonomous vehicles. In this approach, advances
tool for stability analysis play a crucial role in assessing the
influence of disturbance and uncertainties in the overall
behavior of the formation. A key issue in maintaining
stability of a formation of autonomous vehicles is the design of robust
controllers that provide insensitivity to possibly large
uncertainties regarding the motion of nearby agents, to the
presence of transmission delays in the feedback path, and the effect of
quantized information. Results concerning the robust control
of formations of nonholonomic vehicles are reported in [1],
while issues related to the analysis of formation stability
are discussed in [2]. A related topic concerns the use of
methodologies from nonlinear regulation theory for control
of satellite formations on highly elliptical orbits. The challenge is
to develop a theory of output regulation for general classes
of periodic signals with infinite Fourier series [3], that
will enable the design of robust control strategies for the
synchronization of the orbital and attitude
dynamics of satellites in formation flight, extending the results in
[4].
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Relevant publications:
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