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 bifurc...Show MoreMetadata
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.
Published in: 2009 American Control Conference
Date of Conference: 10-12 June 2009
Date Added to IEEE Xplore: 10 July 2009
ISBN Information: