Exponential and practical exponential stability of second-order formation control systems
(2020) 58th IEEE Conference on Decision and Control, CDC 2019 In Proceedings of the IEEE Conference on Decision and Control 2019-December. p.3521-3526- Abstract
We study the problem of distance-based formation shape control for autonomous agents with double-integrator dynamics. Our considerations are focused on exponential stability properties. For second-order formation systems under the standard gradient-based control law, we prove local exponential stability with respect to the total energy by applying Chetaev's trick to the Lyapunov candidate function. We also propose a novel formation control law, which does not require measurements of relative positions but instead measurements of distances. The distance-only control law is based on an approximation of symmetric products of vector fields by sinusoidal perturbations. A suitable averaging analysis reveals that the averaged system coincides... (More)
We study the problem of distance-based formation shape control for autonomous agents with double-integrator dynamics. Our considerations are focused on exponential stability properties. For second-order formation systems under the standard gradient-based control law, we prove local exponential stability with respect to the total energy by applying Chetaev's trick to the Lyapunov candidate function. We also propose a novel formation control law, which does not require measurements of relative positions but instead measurements of distances. The distance-only control law is based on an approximation of symmetric products of vector fields by sinusoidal perturbations. A suitable averaging analysis reveals that the averaged system coincides with the multi-agent system under the standard gradient-based control law. This allows us to prove practical exponential stability for the system under the distance-only control law.
(Less)
- author
- Suttner, Raik and Sun, Zhiyong LU
- organization
- publishing date
- 2020-03-12
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2019 IEEE 58th Conference on Decision and Control, CDC 2019
- series title
- Proceedings of the IEEE Conference on Decision and Control
- volume
- 2019-December
- article number
- 9030064
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 58th IEEE Conference on Decision and Control, CDC 2019
- conference location
- Nice, France
- conference dates
- 2019-12-11 - 2019-12-13
- external identifiers
-
- scopus:85082469748
- ISSN
- 0743-1546
- 2576-2370
- ISBN
- 978-1-7281-1399-9
- 9781728113982
- DOI
- 10.1109/CDC40024.2019.9030064
- language
- English
- LU publication?
- yes
- id
- 851e16e9-dd44-44b0-a7fb-a14d065a8be1
- date added to LUP
- 2020-04-29 15:20:43
- date last changed
- 2024-07-24 17:38:38
@inproceedings{851e16e9-dd44-44b0-a7fb-a14d065a8be1, abstract = {{<p>We study the problem of distance-based formation shape control for autonomous agents with double-integrator dynamics. Our considerations are focused on exponential stability properties. For second-order formation systems under the standard gradient-based control law, we prove local exponential stability with respect to the total energy by applying Chetaev's trick to the Lyapunov candidate function. We also propose a novel formation control law, which does not require measurements of relative positions but instead measurements of distances. The distance-only control law is based on an approximation of symmetric products of vector fields by sinusoidal perturbations. A suitable averaging analysis reveals that the averaged system coincides with the multi-agent system under the standard gradient-based control law. This allows us to prove practical exponential stability for the system under the distance-only control law.</p>}}, author = {{Suttner, Raik and Sun, Zhiyong}}, booktitle = {{2019 IEEE 58th Conference on Decision and Control, CDC 2019}}, isbn = {{978-1-7281-1399-9}}, issn = {{0743-1546}}, language = {{eng}}, month = {{03}}, pages = {{3521--3526}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, series = {{Proceedings of the IEEE Conference on Decision and Control}}, title = {{Exponential and practical exponential stability of second-order formation control systems}}, url = {{http://dx.doi.org/10.1109/CDC40024.2019.9030064}}, doi = {{10.1109/CDC40024.2019.9030064}}, volume = {{2019-December}}, year = {{2020}}, }