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

Abstract

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.

Keywords:

• distributed coordination
• multi-agent system
• nonholonomic system
• chained system
• high-order

Acknowledgements

The authors would like to thank Zhong-Ping Jiang for his insightful suggestions.

Additional information

Funding

This work was 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] and the Beijing Education Committee Cooperation Building Foundation Project.