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This article introduces a novel control strategy for autonomous vehicle formations. By combining a nonlinear path-following controller with a cooperative control protocol, we enable multiple vehicles to follow a specified formation without rigid timing requirements. Our approach guarantees input-to-state stability of the closed-loop system, effectively managing both path-following and formation errors. Simulations in 2D scenarios validate the practical feasibility of our proposed solution.

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Formation Tracking Control for Multi-autonomous Vehicles Network

  • 会议论文

  • 发表日期：

    2026年

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  • Quynh T. Thanh Nguyen,
  • Nam Dinh Van,
  • Chinh Cuong Duong,
  • Tuan Vu Ba,
  • Thiem V. Pham

摘要

This article introduces a novel control strategy for autonomous vehicle formations. By combining a nonlinear path-following controller with a cooperative control protocol, we enable multiple vehicles to follow a specified formation without rigid timing requirements. Our approach guarantees input-to-state stability of the closed-loop system, effectively managing both path-following and formation errors. Simulations in 2D scenarios validate the practical feasibility of our proposed solution.