Title :
An approach to achieving consensus in nonholonomic systems
Author :
Zhai, Guisheng ; Takeda, Junya ; Imae, Joe ; Kobayashi, Tomoaki
Author_Institution :
Dept. of Math. Sci., Shibaura Inst. of Technol., Saitama, Japan
Abstract :
We study the consensus problem in nonholonomic systems (NHSs). Based on Brockett´s stabilizability condition, the stabilization of NHSs is usually considered by time-varying or discontinuous control (including switching control). Observing that the consensus problem has more flexibility than the stabilization one, we aim to establish time-invariant continuous state feedbacks for the problem at hand.
Keywords :
continuous systems; multi-robot systems; sampled data systems; stability; state feedback; time-varying systems; Brockett´s stabilizability condition; consensus problem; discontinuous control; multiagent nonholonomic systems; switching control; time-invariant continuous state feedbacks; time-varying control; Eigenvalues and eigenfunctions; Equations; Gallium; Laplace equations; Mathematical model; State feedback; Chained form; Consensus; Nonholonomic systems; Time-invariant continuous state feedback;
Conference_Titel :
Intelligent Control (ISIC), 2010 IEEE International Symposium on
Conference_Location :
Yokohama
Print_ISBN :
978-1-4244-5360-3
Electronic_ISBN :
2158-9860
DOI :
10.1109/ISIC.2010.5612923
