Robust Control of Fleet Systems Under External Disturbances

In this work, a fleet system composed of
$\boldsymbol{N}+\boldsymbol{1}$
vehicles is studied with consideration of uncertainty and possibly unknown external disturbances. Uncertainty may be caused by factors such as parameter changes, aerodynamics, and network malfunction, which change over time and are nonlinear. The system is designed aiming to avoid collision and form formation in the case of external disturbances. In this study, a unique robust control strategy is proposed and examined to ensure that the fleet system satisfies uniform boundedness and uniform ultimate boundedness. Finally, an experimental simulation is conducted using a fleet system consisting of four vehicles to verify the feasibility of the proposed robust control.