iISS formation tracking control of autonomous vehicles

Abstract : We present a cascades-based controller for the problem of formation-tracking control in a group of mobile robots. We consider general models composed of a kinematics equation and a generic dynamics equation at the force level. For each robot, a local controller ensures a follow-the-leader task. Then, only one robot possesses the information of the reference trajectory. We establish uniform global asymptotic stability in closed-loop. Our analysis relies on the construction of an original strict Lyapunov function for the position tracking error dynamics and an inductive argument based on cascades-systems theory.
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https://hal.archives-ouvertes.fr/hal-01364791
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Submitted on : Monday, September 12, 2016 - 8:05:41 PM
Last modification on : Thursday, April 5, 2018 - 12:30:05 PM
Long-term archiving on : Tuesday, December 13, 2016 - 4:20:16 PM

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  • HAL Id : hal-01364791, version 1

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Mohamed Maghenem, Antonio Loría, Elena Panteley. iISS formation tracking control of autonomous vehicles. 2016. ⟨hal-01364791⟩

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