A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 1 Issue 1
Jan.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Aolei Yang, Wasif Naeem and Minrui Fei, "Decentralised Formation Control and Stability Analysis for Multi-vehicle Cooperative Manoeuvre," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 92-100, 2014.
Citation: Aolei Yang, Wasif Naeem and Minrui Fei, "Decentralised Formation Control and Stability Analysis for Multi-vehicle Cooperative Manoeuvre," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 1, pp. 92-100, 2014.

Decentralised Formation Control and Stability Analysis for Multi-vehicle Cooperative Manoeuvre


This work was supported by National Natural Science Foundation of China (61074032), the Key Project of Science and Technology Commission of Shanghai Municipality (10JC1405000).

  • Multi-vehicle cooperative formation control problem is an important and typical topic of research on multi-agent system. This paper presents a formation stability conjecture to conceive a new methodology for solving the decentralised multivehicle formation control problem. It employs the "extensiondecomposition-aggregation" scheme to transform the complex multi-agent control problem into a group of sub-problems which is able to be solved conveniently. Based on this methodology, it is proved that if all the individual augmented subsystems can be stabilised by using any approach, the overall formation system is not only asymptotically but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. Simulation study on 6-DOF aerial vehicles (Aerosonde UAVs) has been performed to verify the achieved formation stability result. The proposed multi-vehicle formation control strategy can be conveniently extended to other cooperative control problems of multi-agent systems.


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