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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2020

Cascades-based leader-follower formation-tracking and stabilization of multiple nonholonomic vehicles

Antonio Loria
Elena Panteley

Résumé

It is known after [1] that nonholonomic systems on the plane cannot be stabilized on arbitrary leader's tra-jectories with piece-wise continuous velocities via continuous controllers, even time-varying. In this paper we identify a wide class of smooth bounded reference trajectories (that includes set-points) and we propose a smooth time-varying controller that stabilizes such trajectories, not only for one nonholonomic mobile robot, but also for a network of mobile robots in a leader-follower configuration. We provide new constructions of strict Lyapunov functions with which we establish uniform global asymptotic stability and other strong robustness properties in the formation-error-coordinates space. Thus, our stability statements are unique in the literature and our tools of analysis are original. Index Terms-Formation control, persistency of excitation, Lyapunov design, nonholonomic systems.

Domaines

Automatique
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Dates et versions

hal-02367526 , version 1 (05-03-2020)

Identifiants

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Mohamed Maghenem, Antonio Loria, Elena Panteley. Cascades-based leader-follower formation-tracking and stabilization of multiple nonholonomic vehicles. IEEE Transactions on Automatic Control, 2020, 65 (8), pp.3639-3646. ⟨10.1109/TAC.2019.2952559⟩. ⟨hal-02367526⟩
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