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

Maghenem, Mohamed; Lorı́a, Antonio; Panteley, Elena

doi:10.1109/tac.2017.2774003

Cited by 17 publications

(6 citation statements)

References 24 publications

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“…R ELATED research topics of multi-vehicles coordination control include dynamics of vehicles (e.g., integratorbased dynamics, linear or nonlinear systems, Euler-Lagrange (EL) systems, etc) [1], communication modes (e.g., undirected or directed graphs, fixed or switching communication topology, communication delays, etc) [2], and various coordination tasks (e.g., consensus, flocking, formation, rigid shape swarming, etc) [3]. In practice, vehicles often suffer from underactuated constraints, such as the well-known non-holonomic constraints in the planar motion of unmanned vehicles [4], which should be taken into consideration in coordination control design. In this paper, by taking into account these motion constraints, we focus on the mobile formation coordination for multiple non-holonomic vehicles.…”

Section: Introductionmentioning

confidence: 99%

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Peng

Sun

Guo

et al. 2020

IEEE/ASME Trans. Mechatron.

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This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles' position information and desired attitude, the translational and rotational control inputs are designed in two stages to solve the trajectory tracking problem. Secondly, the coordination relationships of relative positions and headings are explored thoroughly for a group of non-holonomic vehicles to maintain a mobile formation with rigid body motion constraints. We prove that, except for the cases of parallel formation and translational straight line formation, a mobile formation with strict rigid-body motion can be achieved if and only if the ratios of linear speed to angular speed for each individual vehicle are constants. Motion properties for mobile formation with weak rigid-body motion are also demonstrated. Thereafter, based on the proposed trajectory tracking approach, a distributed mobile formation control law is designed under a directed tree graph. The performance of the proposed controllers is validated by both numerical simulations and experiments.

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Section: Introductionmentioning

confidence: 99%

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Peng

Sun

Guo

et al. 2020

IEEE/ASME Trans. Mechatron.

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“…Xi et al 37 proposed a robust steering controller via backstepping variable structure control to eliminate the lateral path tracking deviation. Maghenem et al 38 built an original strict Lyapunov function for the position tracking error dynamics based on the cascades-systems theory. Suh et al 39 proposed a stochastic MPC controller with a combination of probabilistic and deterministic prediction for the automated driving vehicle.…”

Section: Review Of the Overall Design And Dynamics Control Of The Ugvmentioning

confidence: 99%

A review for design and dynamics control of unmanned ground vehicle

Chen

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The unmanned ground vehicle is supposed to replace humans for various applications in both civilian and military area, including transport, delivery, shuttle, clean, patrol, scout, and battle. It has been widely expected that the unmanned ground vehicle will greatly change the human life and the land combat form in the near future. The key techniques of the unmanned ground vehicle are environment perception, motion planning, chassis dynamics control, and cloud control. In this paper, the state of the art of the development of the military and civilian unmanned ground vehicle is introduced, and many classic ones are reviewed in detail in different application categories. The overall design and X-by-wire dynamics control technique of the civilian and military unmanned ground vehicle are reviewed. The X-by-wire technique plays an important role in improving the maneuverability, mobility, and handling performance of the unmanned ground vehicle. Therefore, the chassis dynamics control is considered as a core technique of the X-by-wire unmanned ground vehicle. In addition, as a research trend of the unmanned ground vehicle dynamics control, the cloud-based dynamics control approach of future unmanned ground vehicle based on big data and cloud control techniques is described according to the authors’ work.

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“…In [14], see also the associated publications [34,[36][37][38][39], decentralized feedback control laws are proposed to solve the leader-follower formation control problem for a network of nonholonomic mobile robots. The interconnections among the nodes is assumed to be a directed spanning-tree topology; namely, each node has only one leader and can have multiple followers.…”

Section: Leader-follower Formation Control For Nonholonomic Vehiclesmentioning

confidence: 99%

Lyapunov-based synchronization of networked systems: From continuous-time to hybrid dynamics

Maghenem

Lorı́a

Panteley

2020

Annual Reviews in Control

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Synchronization pertains to the property of interconnected systems according to which their dynamic behavior is coordinated in an appropriate sense. That is to say, some of their state variables, or functions of the latter for that matter, converge to each other. Synchronization may occur naturally or may be induced, controlled, and it may be present between two systems or among a large number. In the latter case, it is convenient to speak of a network of interconnected systems. Understanding synchronization, and how to control it, is an important paradigm as it is present in a variety of scenarios. These involve, e.g., networks of technological systems (robots and vehicles of different kinds), social networks (by which people exchange opinions and agree, or not), networks of biological systems (uni or pluricellular), etc. Owing to the context, the mathematical models to describe such networks and to define synchronization formally, varies dramatically. Ordinary continuous-time or discrete-time models for which modern control theory and Lyapunov stability theory are tailored result inappropriate to incorporate hybrid phenomena that intervene in the network. These may stem from sudden topology changes, the use of digital or intermittent control strategies, the presence of impacts in the intrinsic dynamics of the nodes, etc. In this invited paper, we give an overview of synchronization control problems, mostly of cooperative control of networks of autonomous vehicles (based on continuous-time models). For that matter, the first part of the paper focuses on the main contributions of [1]. Then, we give further perspectives on what we consider significant open problems on synchronization of hybrid systems and hybrid networks.

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

Cited by 17 publications

References 24 publications

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

A review for design and dynamics control of unmanned ground vehicle

Lyapunov-based synchronization of networked systems: From continuous-time to hybrid dynamics

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