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

Abstract : 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.
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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, IEEE, 2019, 3 (2), pp.344-349. ⟨10.1109/LCSYS.2018.2879043⟩. ⟨hal-02367702⟩

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