Consensus in networked nonholonomic robotic systems
TIAN Jinyu1， WANG Chuangchuang1， HE Ping2,3，XIONG Xingzhong1
1.College of Automation and Information Engineering， Sichuan University of Science & Engineering， Zigong， Sichuan 643000， China；2.School of Intelligent Systems Science and Engineering， Jinan University， Zhuhai， Guangdong 519072， China；3.Department of Building and Real Estate， The Hong Kong Polytechnic University， Hongkong 999077， China
Abstract：The leaderless consensus control problem of multiple nonholonomic chained systems has been studied. Firstly， transforming a nonholonomic (2,1) system into a four-state nonholonomic chain model through chain transformation. Secondly， a distributed controller is proposed which under the undirected communication topology. Lyapunov stability theorem and Barbalat's Lemma are used to demonstrate the stability of the proposed controller. Finally， numerical simulation is also presented to demonstrate the effectiveness of the controller.
2019, Vol. 53 
