Distributed Consensus in Multi-agent Nonholonomic Systems Without Position Measurement

A novel consensus control protocol for multi-agent nonholonomic systems has been proposed in this paper. With the aid of non-smooth analysis and algebraic graph theory, the proposed linear protocol can ensure leader-follower results and three flocking rules without position measurement. Besides, it is proved that there exist a range of control gain to preserve the connectedness of the communication network and realize consensus. Finally, some numerical simulations are given to validate the above theoretical results.