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Communication Dans Un Congrès Année : 2023

Robust leader-follower formation control of autonomous vehicles with unknown leader velocities

Anes Lazri
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Antonio Loria

Résumé

We address the problem of formation-tracking control of velocity-controlled unicycles in a leader-follower configuration, both with known and unknown leader velocities. The controller design is based on relative measurements: distances and line-of-sight angles. This type of measurements are provided by onboard sensors rather than global positioning systems. We assume that a virtual leader generates a desired reference trajectory for the whole swarm, that is once continuously differentiable, bounded and with bounded derivative. We propose two controllers, one for which it is assumed that the leader velocities are known and one in which they are unknown.

Domaines

Automatique
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Dates et versions

hal-03869953 , version 1 (24-11-2022)
hal-03869953 , version 2 (31-10-2023)

Identifiants

Citer

Anes Lazri, Esteban Restrepo, Antonio Loria. Robust leader-follower formation control of autonomous vehicles with unknown leader velocities. 2023 European Control Conference (ECC 2023), Jun 2023, Bucharest, Romania. pp.1--6, ⟨10.23919/ECC57647.2023.10178165⟩. ⟨hal-03869953v2⟩
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