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

Mohamed Maghenem | Zendy; Abraham P. Bautista | Zendy; Emmanuel Nuño | Zendy; Antonio Lorı́a | Zendy; Elena Panteley | Zendy

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

Author(s) -

Mohamed Maghenem,

Abraham P. Bautista,

Emmanuel Nuño,

Antonio Lorı́a,

Elena Panteley

Publication year - 2018

Publication title -

ieee control systems letters

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.154

H-Index - 21

ISSN - 2475-1456

DOI - 10.1109/lcsys.2018.2879043

Subject(s) - nonholonomic system , lyapunov function , cartesian coordinate system , convergence (economics) , control theory (sociology) , controller (irrigation) , position (finance) , notation , exponential stability , function (biology) , mathematics , stability (learning theory) , computer science , robot , mobile robot , artificial intelligence , control (management) , geometry , physics , arithmetic , finance , nonlinear system , quantum mechanics , evolutionary biology , machine learning , agronomy , economics , biology , economic growth

This letter presents a smooth time-varying δ-persistently exciting controller for full consensus of autonomous nonholonomic vehicles modeled 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...

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