IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v47y2016i8p1877-1890.html
   My bibliography  Save this article

Leader-following control of multiple nonholonomic systems over directed communication graphs

Author

Listed:
  • Wenjie Dong
  • Vladimir Djapic

Abstract

This paper considers the leader-following control problem of multiple nonlinear systems with directed communication topology and a leader. If the state of each system is measurable, distributed state feedback controllers are proposed using neighbours’ state information with the aid of Lyapunov techniques and properties of Laplacian matrix for time-invariant communication graph and time-varying communication graph. It is shown that the state of each system exponentially converges to the state of a leader. If the state of each system is not measurable, distributed observer-based output feedback control laws are proposed. As an application of the proposed results, formation control of wheeled mobile robots is studied. The simulation results show the effectiveness of the proposed results.

Suggested Citation

  • Wenjie Dong & Vladimir Djapic, 2016. "Leader-following control of multiple nonholonomic systems over directed communication graphs," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(8), pages 1877-1890, June.
    • Handle: RePEc:taf:tsysxx:v:47:y:2016:i:8:p:1877-1890
    DOI: 10.1080/00207721.2014.955553
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2014.955553
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2014.955553?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Zou, Ying & Deng, Chao & Dong, Lu & Ding, Lei & Lu, Ming, 2022. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader," Applied Mathematics and Computation, Elsevier, vol. 422(C).

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:47:y:2016:i:8:p:1877-1890. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.