Preliminary results of one-dimensional vehicle formation control using a structural analogy Conference Paper uri icon


  • Results are presented from a preliminary study to determine the potential benefits of utilizing 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 n 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 is presented.

author list (cited authors)

  • Caicedo, R. E., Valasek, J., Junkins, J. L., AAC, .., & AAC, ..

publication date

  • November 2003