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Formation-Tracking Control of Autonomous Vehicles Under Relaxed Persistency of Excitation Conditions

Mohamed Maghenem 1 Antonio Loria 1 Elena Panteley 1
1 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : We present a smooth nonlinear time-varying formation-tracking controller for autonomous vehicles modeled as a non-holonomic unicycle. Our first result consists in a leader-follower tracking controller that guarantees uniform global asymptotic stability under the standing assumption that either the rotational or the translational reference velocity is persistently exciting. Then, we extend this result to the case of formation control of a swarm of vehicles. We show that this problem may be solved via decentralized tracking control, under the assumption that each robot communicates with one leader and one follower.
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Mohamed Maghenem, Antonio Loria, Elena Panteley. Formation-Tracking Control of Autonomous Vehicles Under Relaxed Persistency of Excitation Conditions. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2018, 26 (5), pp.1860-1865. ⟨10.1109/TCST.2017.2734053⟩. ⟨hal-01744634⟩

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