A distributed consensus control law for non-holonomic systems

This paper considers the consensus control problem for a class of non-holonomic chained systems. A smooth static distributed control algorithm is proposed with the aid of the Lyapunov direct method and LaSalle invariance principle. Strict stability analysis for the closed-loop system is presented, proving the global asymptotic convergence of the consensus errors to zero under the undirected connected assumption on communication topology. A numeric simulation is carried out showing the effectiveness of the proposed algorithm.