In this article we extend previous results for backstepping and passivity-based design of cooperative control laws to a class of chainedformsystems that includes certain driftfree nonholonomic *** exploit the cascad...
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In this article we extend previous results for backstepping and passivity-based design of cooperative control laws to a class of chainedformsystems that includes certain driftfree nonholonomic *** exploit the cascaded structure and feedback equivalence to passive systems to derive suitable control laws using a modified backstepping methodology.A virtual output is obtained and shared within the group in such a way that full state synchronization for the group is *** a static,strongly connected and balanced communication network we prove stability of the proposed ***,an extension to higher order chainedforms is shown,providing a methodology to coordinate general nonholonomic *** effectiveness of the method is demonstrated by synchronizing a collective of unicycles.
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