Formation control as a classical decentralized multivariable problem: Performance, robustness, cross-coupling and perturbation rejection.
Luis Antonio Amezquita-BrooksLuis G. Takano De La CruzOctavio Garcia-SalazarFrancisco Villarreal-ValderramaCarlos Santana-DelgadoDiana Hernandez-AlcantaraPublished in: J. Frankl. Inst. (2023)