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

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 gen...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on automatic control Vol. 63; no. 8; pp. 2662 - 2669
Main Authors Maghenem, Mohamed, Loria, Antonio, Panteley, Elena
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Subjects
Asymptotic stability
Automatic Control Engineering
Autonomous vehicles
Computer Science
Consensus
Control stability
Kinematics
Liapunov functions
Mathematical model
nonholonomic systems
persistency of excitation
Robot kinematics
System theory
Systems theory
Tracking control
Trajectory
Vehicles
Online AccessGet full text

Cover

More Information
Summary: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 a 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 the cascades-systems theory.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2017.2774003