Formation Control of Multivehicle System via Stochastic Noises

An approach to realize formation control of multivehicle system with stochastic noises is studied in this work. The formation system is treated as a virtual structure tracking control model of unicycle type. We propose an improved method to control the linear and rotational velocities with stochastic noises. This novel fromation control strategy no longer requires the negative feedback, so the control grain can have a wider range. Finally, the proposed control strategy is tested by the simulations in Matlab.