Leader-Follower Dynamics for Unicycles

S. Zhao, A. Halder and T. Kalmar-Nagy

American Control Conference, St. Louis, Missouri, USA, June 2009.

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.