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In this paper, a sampled-data controller is designed for the exact discrete-time model of nonholonomic mobile robots, which solves the leader-following consensus problem. We describe the uniform global asymptotic stability of closed-loop systems with time-varying and periodic characteristics through the generalized Krasovskii-LaSalle Theorem together with the stability theorem of cascaded system. A numerical simulation is used to illustrate our conclusions.
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2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC
ISSN: 1948-9439
Year: 2023
Page: 1616-1621
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