3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents
Conference object, Journal article, Peer reviewed
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Original versionProceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015 10.1109/CDC.2015.7402009
In this paper coordinated path following for formations of under-actuated agents in three dimensional space is considered. The agents are controlled to follow a straight-line path whilst being affected by an unknown environmental disturbance. The problem is solved using a twofold approach. In particular, the agents are controlled to the desired path using a guidance law that rejects an unknown, but constant, disturbance. Simultaneously each agent utilises a decentralised nonlinear coordination law to achieve the desired formation. The closed-loop system of path-following and coordination dynamics is analysed using theory for feedback-interconnected systems. In particular, a technique from  is used that allows us to analyse a feedback-interconnected systems as a cascaded system. The origin of the closed-loop error dynamics is shown to be globally asymptotically stable. A case study with simulation results is presented to validate the control strategy.