Disturbance Rejection Control in Coordinated Systems

Abstract Coordinated system control with realistic disturbance is studied. We employ coordinated vehicles as an working problem. Vehicles attempt to keep a specified formation while avoiding collision in the presence of disturbance such as a wind gust. State estimators are used to estimate the self-states and the states of interacting vehicles via communication channels. Estimation performance is incorporated into control design and plays a central role in control performance. A numerical design approach is used to overcome limited knowledge about the disturbance and noises. A case study is given to demonstrate central ideas of the paper.

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