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.

中文翻译：

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力控自动驾驶车辆编队跟踪稳定的级联方法


我们提出了一种基于级联的控制器，用于解决一组自动驾驶车辆的编队跟踪控制问题。我们考虑由速度运动学方程和通用力平衡方程组成的通用模型。对于每辆车，本地控制器确保跟踪引导车辆生成的参考。一辆或多辆车辆可以访问参考轨迹；每个机器人只有一个领导者，但可能有多个追随者（生成树拓扑）。我们在闭环中为多种控制器建立了统一的全局渐近稳定性。我们的分析依赖于位置跟踪误差动力学的原始严格李亚普诺夫函数的构造以及基于级联系统理论的归纳论证。