期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：6
DOI：10.1177/1729881417748442
出版社：SAGE Publications
摘要：This article studies the leaderless consensus control problem of multiple nonholonomic chained systems. Two smooth time-invariant static distributed controllers are derived based on Lyapunov method, graph theory, and LaSalle invariance principle. Both of the proposed controllers guarantee that the states of the multiple nonholonomic systems globally asymptotically converge to a common vector, provided that the interconnection topology is undirected and connected. In particular, the second control scheme can reduce the size of the control inputs via saturated control and is more applicable in real engineering. Several numerical simulations are implemented for kinematic models of four nonholonomic unicycle mobile robots, demonstrating the effectiveness of the proposed control schemes.
关键词：Nonholonomic chained systems ; leaderless consensus control ; saturated control ; LaSalle invariance principle
