Abstract

Formation control in uncertain environment is studied, including the control process noise and measurement noise. The decoupled Kalman Filter based on discrete model is established. And the control performances based on absolute positioning sensor, relative positioning sensor or fusion of these two kinds of sensor are studied. Simulations show that absolute positioning sensor could assure the formation trajectory tracking stability, and the relative positioning sensor could hold the precision of formation shape. The fusion of two type sensors information could give satisfying control results both on formation trajectory and shape.

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