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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2018

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

Antonio Loria
Elena Panteley

Résumé

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.

Domaines

Automatique
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Dates et versions

hal-01744645 , version 1 (05-03-2020)

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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, 2018, 63 (8), pp.2662--2669. ⟨10.1109/TAC.2017.2774003⟩. ⟨hal-01744645⟩
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