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Pré-Publication, Document De Travail Année : 2016

iISS formation tracking control of autonomous vehicles

Antonio Loria
Elena Panteley

Résumé

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.

Domaines

Automatique
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Dates et versions

hal-01364791 , version 1 (12-09-2016)

Identifiants

  • HAL Id : hal-01364791 , version 1

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