Tight displacement-based formation control under bounded disturbances. A set-theoretic perspective
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866917083310194688 |
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| author | Angheluţă, Vlad-Matei Gheorghe, Bogdan Ioan, Daniel Prodan, Ionela Stoican, Florin |
| author_facet | Angheluţă, Vlad-Matei Gheorghe, Bogdan Ioan, Daniel Prodan, Ionela Stoican, Florin |
| contents | This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature frequently addresses such problems using stochastic frameworks, this work proposes a deterministic methodology grounded in set-theoretic concepts. By leveraging the principles of set invariance, we adapt the theory of ultimate boundedness to the specific dynamics of displacement-based formations. This approach provides a rigorous method for analyzing the system's behavior under persistent disturbances. Furthermore, this set-theoretic framework allows for the optimized selection of the proposed control law parameters to guarantee pre-specified performance bounds. The efficacy of the synthesized controller is demonstrated in the challenging application of maintaining tight formations in a multi-obstacles environment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_12163 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Tight displacement-based formation control under bounded disturbances. A set-theoretic perspective Angheluţă, Vlad-Matei Gheorghe, Bogdan Ioan, Daniel Prodan, Ionela Stoican, Florin Systems and Control This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature frequently addresses such problems using stochastic frameworks, this work proposes a deterministic methodology grounded in set-theoretic concepts. By leveraging the principles of set invariance, we adapt the theory of ultimate boundedness to the specific dynamics of displacement-based formations. This approach provides a rigorous method for analyzing the system's behavior under persistent disturbances. Furthermore, this set-theoretic framework allows for the optimized selection of the proposed control law parameters to guarantee pre-specified performance bounds. The efficacy of the synthesized controller is demonstrated in the challenging application of maintaining tight formations in a multi-obstacles environment. |
| title | Tight displacement-based formation control under bounded disturbances. A set-theoretic perspective |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.12163 |