Asymptotic leaderless consensus control of nonholonomic chained systems

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

doi:10.23919/ChiCC.2019.8865351

Asymptotic leaderless consensus control of nonholonomic chained systems

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

Electrical, Electronic and Computer Engineering

Research output: Chapter in Book/Conference paper › Conference paper › peer-review

1 Citation (Scopus)

Abstract

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 language	English
Title of host publication	Proceedings of the 38th Chinese Control Conference, CCC 2019
Editors	Minyue Fu, Jian Sun
Place of Publication	USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	715-720
Number of pages	6
ISBN (Electronic)	9789881563972
DOIs	https://doi.org/10.23919/ChiCC.2019.8865351
Publication status	Published - 1 Jul 2019
Event	38th Chinese Control Conference - Guangzhou, China Duration: 27 Jul 2019 → 30 Jul 2019 http://www.ccc2019.cn/en/index.html

Publication series

Name	Chinese Control Conference, CCC
Volume	2019-July
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	38th Chinese Control Conference
Abbreviated title	CCC 2019
Country/Territory	China
City	Guangzhou
Period	27/07/19 → 30/07/19
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.
Internet address	http://www.ccc2019.cn/en/index.html

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10.23919/ChiCC.2019.8865351

Cite this

Xie, W., Ma, B., Huang, W., Zhao, Y., & Fernando, T. (2019). Asymptotic leaderless consensus control of nonholonomic chained systems. In M. Fu, & J. Sun (Eds.), Proceedings of the 38th Chinese Control Conference, CCC 2019 (pp. 715-720). [8865351] (Chinese Control Conference, CCC; Vol. 2019-July). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.23919/ChiCC.2019.8865351

@inproceedings{17b666216f2b4b4d9d279fbb7f687cce,

title = "Asymptotic leaderless consensus control of nonholonomic chained systems",

abstract = "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.",

keywords = "Consensus control, Graph theory, Higher-order nonholonomic chained systems, LaSalle invariance principle",

author = "Wenjing Xie and Baoli Ma and Wei Huang and Yixin Zhao and Tyrone Fernando",

year = "2019",

month = jul,

day = "1",

doi = "10.23919/ChiCC.2019.8865351",

language = "English",

series = "Chinese Control Conference, CCC",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "715--720",

editor = "Minyue Fu and Jian Sun",

booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",

address = "United States",

note = "38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",

url = "http://www.ccc2019.cn/en/index.html",

}

Xie, W, Ma, B, Huang, W, Zhao, Y & Fernando, T 2019, Asymptotic leaderless consensus control of nonholonomic chained systems. in M Fu & J Sun (eds), Proceedings of the 38th Chinese Control Conference, CCC 2019., 8865351, Chinese Control Conference, CCC, vol. 2019-July, IEEE, Institute of Electrical and Electronics Engineers, USA, pp. 715-720, 38th Chinese Control Conference, Guangzhou, China, 27/07/19. https://doi.org/10.23919/ChiCC.2019.8865351

Asymptotic leaderless consensus control of nonholonomic chained systems. / Xie, Wenjing; Ma, Baoli; Huang, Wei et al.
Proceedings of the 38th Chinese Control Conference, CCC 2019. ed. / Minyue Fu; Jian Sun. USA: IEEE, Institute of Electrical and Electronics Engineers, 2019. p. 715-720 8865351 (Chinese Control Conference, CCC; Vol. 2019-July).

Research output: Chapter in Book/Conference paper › Conference paper › peer-review

TY - GEN

T1 - Asymptotic leaderless consensus control of nonholonomic chained systems

AU - Xie, Wenjing

AU - Ma, Baoli

AU - Huang, Wei

AU - Zhao, Yixin

AU - Fernando, Tyrone

PY - 2019/7/1

Y1 - 2019/7/1

N2 - 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.

AB - 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.

KW - Consensus control

KW - Graph theory

KW - Higher-order nonholonomic chained systems

KW - LaSalle invariance principle

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DO - 10.23919/ChiCC.2019.8865351

M3 - Conference paper

AN - SCOPUS:85074410133

T3 - Chinese Control Conference, CCC

SP - 715

EP - 720

BT - Proceedings of the 38th Chinese Control Conference, CCC 2019

A2 - Fu, Minyue

A2 - Sun, Jian

PB - IEEE, Institute of Electrical and Electronics Engineers

CY - USA

T2 - 38th Chinese Control Conference

Y2 - 27 July 2019 through 30 July 2019

ER -

Asymptotic leaderless consensus control of nonholonomic chained systems

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