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Journal articles
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.
Cited literature [32 references]
https://hal.archives-ouvertes.fr/hal-02367702
Contributor : Antonio Loria <>
Submitted on : Thursday, March 5, 2020 - 10:40:43 AM
Last modification on : Wednesday, September 16, 2020 - 4:50:52 PM
Long-term archiving on: : Saturday, June 6, 2020 - 1:42:42 PM
Contributor : Antonio Loria <>
Submitted on : Thursday, March 5, 2020 - 10:40:43 AM
Last modification on : Wednesday, September 16, 2020 - 4:50:52 PM
Long-term archiving on: : Saturday, June 6, 2020 - 1:42:42 PM
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hal-02367702.pdf
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