Asymptotic leaderless consensus control of nonholonomic chained systems

Wenjing Xie, Baoli Ma, Wei Huang, Yixin Zhao, Tyrone Fernando

Research output: Chapter in Book/Conference paperConference paperpeer-review

1 Citation (Scopus)


This paper designs a smooth time-invariant distributed static control law to solve the asymptotic distributed leaderless consensus control problem of nonholonomic chained systems over a communication graph. A novel Lyapunov function is firstly constructed, then a control law is constructed to ensure the Lyapunov function non-increasing. The Lyapunov method, the LaSalle invariance principle, the graph theory, technical lemmas and matrix computations are used to analyze the system stability, overcoming the difficulties caused by high dimension and nonholonomic constraint. The proposed control law is able to guarantee the state vector of the whole systems globally asymptotically converge to a common configuration, under undirected connected communication scenarios. A numerical simulation example is implemented to demonstrate the effectiveness of the control schemes.

Original languageEnglish
Title of host publicationProceedings of the 38th Chinese Control Conference, CCC 2019
EditorsMinyue Fu, Jian Sun
Place of PublicationUSA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9789881563972
Publication statusPublished - 1 Jul 2019
Event38th Chinese Control Conference - Guangzhou, China
Duration: 27 Jul 201930 Jul 2019

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927


Conference38th Chinese Control Conference
Abbreviated titleCCC 2019
Other The CCC is an annual international conference sponsored by the Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA). It aims to bring together the international community of systems and control to discuss the latest findings and advances in control theories and technologies. The CCC2019 will feature plenary lectures, contributed and invited sessions, panel discussions, pre-conference workshops, oral presentation sessions and interactive sessions. The proceedings of CCC2019 will be submitted to IEEE after the conference.
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