An overview of recent progress in high-order nonholonomic chained system control and distributed coordination  

作　　者：Jie Huang Jie Chen Hao Fang Lihua Dou 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing,China [2]State Key Laboratory of Intelligent Control and Decision of Complex Systems,Beijing,China [3]Fujian Institute of Education,Fuzhou,China

出　　处：《Journal of Control and Decision》2015年第1期64-85,共22页控制与决策学报（英文）

基　　金：supported in part by the National Natural Science Foundation of China under[grant number 61321002],[grant number 61120106010],[grant number 61175112];the programme for New Century Excellent Talents in University;the Social Science Foundation of Fujian Province under[grant number 2014B182];the Beijing Education Committee Cooperation Building Foundation Project.

摘　　要：This paper reviews some main results and progress concerning with nonholonomic system control,especially focusing on the networked chained system coordination.The controllability of nonholonomic system,the control method of nonholonomic system,the chained form transformation,the basic graph theory for multi-agent systems are recalled,respectively.Some important definitions,lemmas,theorems and dynamics are elaborated.Both the consensus and formation control problems for networked nonholonomic chained systems are summarised.Finally,some open questions are proposed.

关 键 词：distributed coordination multi-agent system nonholonomic system chained system HIGH-ORDER 

分 类 号：O31[理学—一般力学与力学基础]