Output synchronization of systems in chained form

@article{Listmann2009OutputSO,
  title={Output synchronization of systems in chained form},
  author={Kim D. Listmann and Craig A. Woolsey},
  journal={Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference},
  year={2009},
  pages={3341-3346}
}
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… CONTINUE READING

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