Consensus of multiple nonholonomic systems

This paper considers the consensus of multiple nonholonomic systems such that a group of systems converges to a desired trajectory. Cooperative control laws are proposed and analyzed with the aid of results from graph theory and Lyapunov analysis. The proposed control laws are decentralized. Robustness of the proposed control laws to communication delays is also considered. As an application of the proposed results, formation control of wheeled mobile robots is discussed. Simulation results show effectiveness of the proposed results.