Preliminary Results of Vehicle Formation Control Using Dynamic Inversion Conference Paper uri icon


  • Results are presented from a preliminary study to determine the potential benefits of utilizing dynamic inversion inspired by a structural analogy for formation control of a system of vehicles. Vehicles are modeled as unconstrained mass particles under the influence of control forces in an inertial reference frame. For a system of particles restricted to motion in one dimension only, equations of motion are developed, and a corresponding dynamic inversion control law is proposed. A dissipative mechanical structure analogy is used to establish a family of feedback controllers. The conditions for global asymptotic stability are presented, and information requirements are discussed. It is shown that a stable system can be generated with each particle obtaining measurements for the mass center location of the system, and the position of the particles immediately next to it. A simulation of the response of a system to initial errors and desired trajectories using the proposed control law is presented yielding satisfactory results.

name of conference

  • 42nd AIAA Aerospace Sciences Meeting and Exhibit

published proceedings

  • 42nd AIAA Aerospace Sciences Meeting and Exhibit

author list (cited authors)

  • Caicedo, R., Valasek, J., & Junkins, J.

citation count

  • 4

complete list of authors

  • Caicedo, Rafael||Valasek, John||Junkins, John

publication date

  • January 2004