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Fixed-time stabilization and consensus of nonholonomic systems

Abstract : This paper focuses on the design of fixed-time consensus for multiple unicycle-type mobile agents. A distributed switched strategy, based on local information, is proposed to solve the leader-follower consensus problem for multiple nonholonomic agents in chained form. The switching times and the prescribed convergence time are explicitly given regardless of the initial conditions. Simulation results highlight the efficiency of the proposed method.
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https://hal.inria.fr/hal-01405104
Contributor : Andrey Polyakov <>
Submitted on : Tuesday, November 29, 2016 - 3:07:38 PM
Last modification on : Tuesday, September 29, 2020 - 12:24:10 PM
Long-term archiving on: : Monday, March 27, 2017 - 9:10:39 AM

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Michael Defoort, Guillaume Demesure, Zongyu Zuo, Andrey Polyakov, Mohamed Djemai. Fixed-time stabilization and consensus of nonholonomic systems. IET Control Theory and Applications, Institution of Engineering and Technology, 2016, ⟨10.1049/iet-cta.2016.0094⟩. ⟨hal-01405104⟩

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