Robustness properties of the hierarchical passivity based formation control

Tamás Péni
2008 Periodica Polytechnica Transportation Engineering  
In this paper the robustness analysis of the hierarchical formation stabilization control proposed by [7] is performed. The analysis is based on the nonlinear small gain theorem and exploits the strict passivity of the components in the closed loop dynamics. The computations are tested via a formation control problem of road vehicles.
doi:10.3311/ fatcat:aot6jsugczehxmcxpx2rrg3bdm