Output synchronization of systems in chained form

• Published in: Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference pp. 3341 - 3346
• Main Authors: Listmann, K.D., Woolsey, C.A.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-12-2009
• Subjects: Aerodynamics; Backstepping; Biology; Communication networks; Communication system control; Control systems; Feedback; Mechanical systems; Physics; Stability
• ISBN: 9781424438716; 1424438713
• ISSN: 0191-2216
• DOI: 10.1109/CDC.2009.5400919

In this article we extend previous results for back-stepping and passivity-based design of cooperative control laws to a class of chained form systems that includes certain drift-free nonholonomic systems. We exploit the cascaded structure and feedback equivalence to passive systems to derive suitable control laws using a modified backstepping methodology. A virtual output is obtained and shared within the group in such a way that full state synchronization for the group is achieved. Given a static, strongly connected and balanced communication network we prove stability of the proposed controller. Further, an extension to higher order chained forms is shown, providing a methodology to coordinate general nonholonomic systems. The effectiveness of the method is demonstrated by synchronizing a collective of unicycles.