Abstract
In this chapter we consider the formation control problem in the context of output regulation of nonlinear systems or basically nonlinear servomechanism, which is a completely different approach from the potential functions method discussed in the preceding chapters. First we formulate the problem for general nonlinear agent dynamics and present two different type of controllers which are namely the full information and error feedback controllers. Following that we discuss how various formation maneuvers can be achieved using the procedure presented. Finally, numerical simulation examples are presented in order to illustrate the technique.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Gazi, V., Passino, K.M. (2011). Formation Control Using Nonlinear Servomechanism. In: Swarm Stability and Optimization. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18041-5_7
Download citation
DOI: https://doi.org/10.1007/978-3-642-18041-5_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-18040-8
Online ISBN: 978-3-642-18041-5
eBook Packages: EngineeringEngineering (R0)