Decentralized formation control improves stability in nonholonomic vehicles, suggesting enhanced robustness in disturbed environments.
This work presents a novel decentralized formation controller for networks of perturbed nonholonomic vehicles. The proposed controller is robust against unknown constant disturbances and mitigates actuator stress by addressing input saturation with a smooth control approach. A mathematical proof of convergence is provided, supported by numerical simulations that compare the performance of the proposed controller to an unbounded and a non robust control schemes.
No takes yet. Share an insight, caveat, or question.
Paredes et al. (2026) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: