Sliding mode control for formation stabilization of thrust-propelled vehicles with switching topologies and unknown time-varying disturbances

This paper investigates formation problem of multiple thrust-propelled vehicles (TPVs) under switching interaction topologies and communication delays. In the presence of time-varying disturbances, we introduce a controller guaranteeing that all vehicles in a team construct a pre-specified formation from any initial states. To tackle the translational and… CONTINUE READING