Formation control for a class of output-feedback systems
Résumé
We address the problem of designing decentralized output feedback laws to force the outputs of a class of strict feedback nonlinear systems (agents) to follow geometric paths while holding a desired formation pattern. To this effect we propose a general framework that takes into account, the topology of the communication links among the agents and the fact that velocities states of agents are unavailable. We provide a decentralized controller based on an observer backstepping approach. By using available exponential observers, stability of the interconnected observer-coordinated controller system is obtained. As a case study, the coordination output-feedback control design is performed for synchronizing a fleet of AUVs where only position measurements are available. Simulation results are presented to show the effectiveness of the approach.