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A Cascades Approach to Formation-Tracking Stabilization of Force-Controlled Autonomous Vehicles

Mohamed Maghenem 1 Antonio Loria 1 Elena Panteley 1
1 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
Abstract : We present a cascades-based controller for the problem of formation-tracking control in a group of autonomous vehicles. We consider general models composed of a velocity kinematics equation and a generic force-balance equation. For each vehicle, a local controller ensures tracking of a reference generated by a leader vehicle. One or many vehicles may have access to the reference trajectories; each robot has one leader only, but may have several followers (spanning-tree topology). We establish uniform global asymptotic stability in closed loop for a wide class of controllers. 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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Mohamed Maghenem, Antonio Loria, Elena Panteley. A Cascades Approach to Formation-Tracking Stabilization of Force-Controlled Autonomous Vehicles. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2018, 63 (8), pp.2662--2669. ⟨10.1109/TAC.2017.2774003⟩. ⟨hal-01744645⟩

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