An Observer-Free Output Feedback Cooperative Control Architecture for Multivehicle Systems


The contribution of this paper is a new, observer-free output feedback cooperative control architecture for continuous-time, minimum phase, and high-order multivehicle systems in the context of a containment problem (i.e., outputs of the follower vehicles convergence to the convex hull spanned by those of the leader vehicles). The proposed architecture is predicated on a nonminimal state-space realization that generates an expanded set of states only using the filtered input and filtered output and their derivatives for each follower vehicle, without the need for designing an observer for each vehicle. Specifically, the proposed observer-free output feedback control law consists of a vehicle-level controller and a local cooperative controller for each vehicle, where the former addresses internal stability of vehicles and the latter addresses the containment problem. Two illustrative numerical examples complement the proposed theoretical contribution.

Meeting Name

ASME 2017 Dynamic Systems and Control Conference, DSCC 2017 (2017: Oct. 11-13, Tysons, VA)


Electrical and Computer Engineering

Research Center/Lab(s)

Intelligent Systems Center

Keywords and Phrases

Adaptive control systems; Advanced driver assistance systems; Aerospace applications; Automobile drivers; Continuous time systems; Controllers; Feedback; Feedback control; Intelligent robots; Intelligent systems; Linear control systems; Machine design; Memory architecture; Robotics; Robots; Vehicles; Wind power; Continuous-time; Internal stability; Level controllers; Multi-vehicle systems; Output feedback; Output feedback controls; Proposed architectures; State space realization; Advanced vehicle control systems

International Standard Book Number (ISBN)


Document Type

Article - Conference proceedings

Document Version


File Type





© 2017 American Society of Mechanical Engineers (ASME), All rights reserved.

Publication Date

01 Oct 2017