Consensus in Multi-agent Nonholonomic Systems With Relative Velocity And Orientation

In this paper, a novel distributed consensus control protocol with relative velocity and orientation for multi-agent nonholonomic systems has been proposed. On the basis of the relative measurement of nearby agents, the proposed protocol can ensure leader-follower results and three flocking rules. Besides, by using tools from algebraic graph theory and non-smooth analysis, the range of control gain to preserve the connectedness of the graph and realize consensus is obtained. Finally, some numerical simulations are provided to illustrate the above theoretical results.