Leader-follower dynamics for unicycles

Authors:
Siming Zhao;Abhishek Halder;Tamás Kalmár-Nagy
Affiliations:
Department of Aerospace Engineering, Texas A&M University, College Station, Texas;Department of Aerospace Engineering, Texas A&M University, College Station, Texas;Department of Aerospace Engineering, Texas A&M University, College Station, Texas
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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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.