Title :
Leader-follower dynamics for unicycles
Author :
Zhao, Siming ; Halder, Abhishek ; Kalmár-Nagy, Tamás
Abstract :
This paper analyzes the leader-follower dynamics for nonholonomic vehicle (unicycle). Local stability of the system is studied in global and local coordinates. The bifurcation structure of the system is studied and we demonstrate the existence of Hopf and Fold-Hopf bifurcations in the system depending on the choice of control gain.
Keywords :
bifurcation; mobile robots; multi-robot systems; robot dynamics; stability; Fold-Hopf bifurcations; bifurcation structure; leader-follower dynamics; local stability; nonholonomic vehicle; unicycles; Aerodynamics; Bifurcation; Communication system control; Control systems; Delay; Distributed control; Nonlinear dynamical systems; Stability; Vehicle dynamics; Vehicles;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160706
