Deakin University
Browse

Leader-follower consensus control of a class of nonholonomic systems

conference contribution
posted on 2010-01-01, 00:00 authored by Sui Yang KhooSui Yang Khoo, L Xie, Z Man
In this paper, we propose a systematic solution to the leader-follower consensus of a class of nonholonomic chained form systems. The control design, which is reminiscent of terminal sliding mode and multi-surface sliding mode control methods, is presented to guarantee the convergence of multiple sliding surfaces, which also implies the convergence of the proposed consensus error function. On these sliding surfaces, the desired leader-follower consensus can be reached for multi-agent network formed by the nonholonomic chained form systems.

History

Event

IEEE International Conference on Control, Automation, Robotics & Vision (11th : 2010 : Singapore)

Pagination

1381 - 1386

Publisher

IEEE

Location

Singapore

Place of publication

Piscataway, N.J.

Start date

2010-12-07

End date

2010-12-10

Language

eng

Publication classification

E1 Full written paper - refereed

Copyright notice

2010, IEEE

Title of proceedings

ICARCV 2010 : 11th International Conference on Control, Automation, Robotics and Vision