Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation

@article{SiraRamrez2010TrajectoryTF,
  title={Trajectory tracking for non-holonomic cars: A linear approach to controlled leader-follower formation},
  author={Hebertt Sira-Ram{\'i}rez and Rafael Castro-Linares},
  journal={49th IEEE Conference on Decision and Control (CDC)},
  year={2010},
  pages={546-551}
}
This article describes the design of a linear robust dynamic output feedback control scheme for output reference trajectory tracking tasks in a leader-follower non-holonomic car formation problem using the cars' kinematic models. A simplification is proposed on the follower's exact open loop position tracking error dynamics, obtained by flatness considerations, resulting in a system described by an additively disturbed set of two, second order, integrators with non-linear velocity dependent… CONTINUE READING
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