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A Passivity-Based Approach to Formation Control Using Partial Measurements of Relative Position

Stacey, Geoffrey; Mahony, Robert


In this technical note, we present a framework for the formation control of dynamic vehicles in R3, using partial measurements of relative position. The proposed control scheme implements virtual mechanical couplings on the available sensor measurements, and is developed using a passivity-based design approach with considerable insight from the bondgraph modelling formalism. In particular, we present a novel passive adaptive compensation technique to estimate the unknown state...[Show more]

CollectionsANU Research Publications
Date published: 2016
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2015.2446811


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