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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Official URL: http://dx.doi.org/10.1016/j.automatica.2010.06.009
Abstract
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 |
| Refereed: | Yes |
| Authors: | Nersesov, Sergey G. and Ghorbanian, Parham and Aghdam, Amir G. |
| Journal or Publication: | Automatica |
| Date: | 2010 |
| 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 By: | Danielle Dennie |
| Deposited On: | 22 Jan 2013 14:21 |
| Last Modified: | 18 Jan 2018 17:39 |
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