Abstract
In this paper we tackle the problem of collision avoidance of ground vehicles in a platoon. In this framework, we focus on a single vehicle, and we guarantee that a given safe set is not exited during a mission. More specifically, we consider the yaw-lateral motion of a two-wheel vehicle subject to a side wind, and we design a state-feedback controller such that the vehicle follows the nominal trajectory with a given maximum error. For these purposes, we resort to the concepts of Input-Output Finite-Time Stability and Stabilization. Some simulation results are included, showing the effectiveness of the proposed approach.
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