iISS formation tracking control of autonomous vehicles
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
Origine : Fichiers produits par l'(les) auteur(s)
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