Consensus of Multi-Agent Systems With Nonholonomic Restrictions via Lyapunov’s Direct Method - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue IEEE Control Systems Letters Année : 2019

Consensus of Multi-Agent Systems With Nonholonomic Restrictions via Lyapunov’s Direct Method

Résumé

This paper presents a smooth time-varying δ-persistently exciting controller for full consensus of autonomous nonholonomic vehicles modelled as unicycles. This consists in the robots assuming a common prescribed Cartesian position relative to an unknown barycentre and an unknown common orientation. More significantly, for the first time in the literature, a strict Lyapunov function is provided and uniform global asymptotic stability for the closed-loop system is established. This is well beyond weaker convergence properties that are more commonly guaranteed in the literature.

Domaines

Automatique
Fichier principal
Vignette du fichier
hal-02367702.pdf (533.98 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02367702 , version 1 (05-03-2020)

Identifiants

Citer

Mohamed Maghenem, Abraham Bautista, Emmanuel Nuno, Antonio Loria, Elena Panteley. Consensus of Multi-Agent Systems With Nonholonomic Restrictions via Lyapunov’s Direct Method. IEEE Control Systems Letters, 2019, 3 (2), pp.344-349. ⟨10.1109/LCSYS.2018.2879043⟩. ⟨hal-02367702⟩
44 Consultations
156 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More