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Stabilization of sets with application to multi-vehicle coordinated motion


Stabilization of sets with application to multi-vehicle coordinated motion

Nersesov, Sergey G., Ghorbanian, Parham and Aghdam, Amir G. (2010) Stabilization of sets with application to multi-vehicle coordinated motion. Automatica, 46 (9). pp. 1419-1427. ISSN 00051098

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Aghdam2010.pdf - Accepted Version

Official URL: http://dx.doi.org/10.1016/j.automatica.2010.06.009


In this paper, we develop stability and control design framework for time-varying and time-invariant sets of nonlinear dynamical systems using vector Lyapunov functions. Several Lyapunov functions arise naturally in multi-agent systems, where each agent can be associated with a generalized energy function which further becomes a component of a vector Lyapunov function. We apply the developed control framework to the problem of multi-vehicle coordinated motion to design distributed controllers for individual vehicles moving in a specified formation. The main idea of our approach is that a moving formation of vehicles can be characterized by a time-varying set in the state space, and hence, the problem of distributed control design for multi-vehicle coordinated motion is equivalent to the design of stabilizing controllers for time-varying sets of nonlinear dynamical systems. The control framework is shown to ensure global exponential stabilization of multi-vehicle formations. Finally, we implement the feedback stabilizing controllers for time-invariant sets to achieve global exponential stabilization of static formations of multiple vehicles.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Electrical and Computer Engineering
Item Type:Article
Authors:Nersesov, Sergey G. and Ghorbanian, Parham and Aghdam, Amir G.
Journal or Publication:Automatica
Digital Object Identifier (DOI):10.1016/j.automatica.2010.06.009
Keywords:Stabilization of sets; Vector Lyapunov functions; Multi-vehicle systems; Coordinated motion; Cooperative control
ID Code:975172
Deposited On:22 Jan 2013 14:21
Last Modified:18 Jan 2018 17:39


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