Abstract
We present a simple leader follower tracking controller for autonomous vehicles following straight paths. The difficulty of this problem lies in the fact that the system is not controllable. We show that global tracking may be achieved with a controller which has a property of persistency of excitation, tailored for nonlinear systems. Roughly speaking the stabilization mechanism relies on exciting the system by an amount that is proportional to the tracking error. Then, the method is used to solve the problem of formation tracking of multiple vehicles interconnected on the basis of a spanning-tree topology i.e., each vehicle communicates with one leader and one follower only.
Keywords
Tracking (education)
Control theory (sociology)
Spanning tree
Nonlinear system
Computer science
Controller (irrigation)
Property (philosophy)
Simple (philosophy)
Tracking error
Multi-agent system
Tree (set theory)
Topology (electrical circuits)
Control (management)
Control engineering
Engineering
Mathematics
Artificial intelligence
Subject Areas
Control and Dynamics of Mobile Robots
·Control and Systems Engineering ·Physical Sciences
Distributed Control Multi-Agent Systems
·Computer Networks and Communications ·Physical Sciences
Adaptive Control of Nonlinear Systems
·Control and Systems Engineering ·Physical Sciences
Citations by Year
2015: 1
2018: 1
2019: 1
2020: 2
2022: 1
2023: 1
2024: 1
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