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