A class of formation control of intelligent traffic system with disturbances

Intelligent traffic system is one of the most important topics in transportation field. In this paper, by adopting with MAS theory, a class of multi-vehicle transportation problem is described by a leader-follower formation control model, based on which the vehicles with unknown disturbances are formatted with given distances and unified velocity. The dynamic MAS model is established by taking account of the communication topology, then by transforming the formation problem to a consensus one, the control protocol is designed to keep the formation. Simulations show the effectiveness of the proposed scheme.