Periodic Sampled-Data Consensus for Leader-Following Nonholonomic Mobile Robots

In this paper, a sampled-data controller is designed for the exact discrete-time model of nonholonomic mobile robots, which solves the leader-following consensus problem. We describe the uniform global asymptotic stability of closed-loop systems with time-varying and periodic characteristics through the generalized Krasovskii-LaSalle Theorem together with the stability theorem of cascaded system. A numerical simulation is used to illustrate our conclusions.