We study the consensus problem in nonholonomic systems (NHSs). Based on Brockett's stabilizability condition, the stabilization of NHSs is usually considered by time-varying or discontinuous control (including switching control). Observing that the consensus problem has more flexibility than the stabilization one, we aim to establish time-invariant continuous state feedbacks for the problem at hand.
['Guisheng Zhai', 'Junya Takeda', 'Joe Imae', 'Tomoaki Kobayashi']
An approach to achieving consensus in nonholonomic systems