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Output consensus for multiple non-holonomic systems under directed communication topology

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  • Yaojin Xu
  • Yu-Ping Tian
  • YangQuan Chen

Abstract

In this paper, the problem of output consensus for multiple non-holonomic systems in chained form has been investigated. First, an output consensus controller under the strongly connected communication topology is devised by two steps, where a time-varying control strategy and the backstepping design technique are employed. Then, the results are extended to the general directed topology case via graph decomposition, in which the input-to-state stability theory plays a critical role. We prove that the proposed controller can achieve the semi-global output consensus among multiple non-holonomic systems, provided that the interaction graph contains a spanning tree. Finally, numerical examples are provided to illustrate the effectiveness of the designed controller.

Suggested Citation

  • Yaojin Xu & Yu-Ping Tian & YangQuan Chen, 2015. "Output consensus for multiple non-holonomic systems under directed communication topology," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(3), pages 451-463, February.
    • Handle: RePEc:taf:tsysxx:v:46:y:2015:i:3:p:451-463
    DOI: 10.1080/00207721.2013.784821
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