Multi-agent simultaneous formation-tracking and stabilization of nonholonomic vehicles

Abstract : We solve the open problem of formation control for swarms of nonholonomic vehicles over a very wide class of reference trajectories (vanishing, persistently exciting, and set-points). Our main result applies to the full unicycle model, consituted of velocity kinematics and dynamics equations. Only a handful of works (see below) cover such generality, but in the one-leader-one-follower scenario; none applies to swarms of vehicles. On technical grounds, we first establish uniform global asymptotic stability (UGAS) and strong input-to-state stability for the kinematics equations; moreover, our proofs provide strict Lyapunov functions. Our second statement is on UGAS for the full model under the action of any velocity controller guaranteeing that the velocity errors are square integrable. Our third and main result, establishes UGAS for a swarm of vehicles and provides the first solution to the above-mentioned problem. To the best of our knowledge, there does not exist in the literature similar stability and stabilization statements on tracking, stabilization or formation control, under the relaxed hypotheses considered here.
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Contributor : Antonio Loria <>
Submitted on : Wednesday, November 14, 2018 - 3:22:55 PM
Last modification on : Sunday, November 18, 2018 - 1:10:35 AM
Document(s) archivé(s) le : Friday, February 15, 2019 - 3:41:46 PM


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  • HAL Id : hal-01922458, version 1


Mohamed Maghenem, Antonio Loria, Elena Panteley. Multi-agent simultaneous formation-tracking and stabilization of nonholonomic vehicles. 2018. ⟨hal-01922458⟩



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