Coordination Control of Double-Integrator Systems with Time-Varying Weighted Inputs
(2020) 21st IFAC World Congress p.2489-2494- Abstract
- This paper considers coordination control of double-integrator systems and proposes general control laws involving time-varying inputs. The nominal control input is weighted by time-varying (time-dependent or state-dependent) positive definite matrices, providing more freedoms in defining the control tasks. We present sufficient conditions to ensure the asymptotic convergence of double-integrator in this context, and support the theoretical results by several application examples. This includes distance-based multi-agent formation control and power network systems with unknown inertia matrices.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/775f819b-b87d-463d-90ce-745a0a4b2f74
- author
- Greiff, Marcus LU ; Sun, Zhiyong LU and Robertsson, Anders LU
- organization
- publishing date
- 2020-07-13
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- IFAC-PapersOnLine
- pages
- 2489 - 2494
- conference name
- 21st IFAC World Congress
- conference location
- Berlin, Germany
- conference dates
- 2020-07-13 - 2020-07-17
- external identifiers
-
- scopus:85105081836
- project
- Semantic Mapping and Visual Navigation for Smart Robots
- language
- English
- LU publication?
- yes
- id
- 775f819b-b87d-463d-90ce-745a0a4b2f74
- date added to LUP
- 2021-01-10 23:55:42
- date last changed
- 2022-04-19 03:28:00
@inproceedings{775f819b-b87d-463d-90ce-745a0a4b2f74, abstract = {{This paper considers coordination control of double-integrator systems and proposes general control laws involving time-varying inputs. The nominal control input is weighted by time-varying (time-dependent or state-dependent) positive definite matrices, providing more freedoms in defining the control tasks. We present sufficient conditions to ensure the asymptotic convergence of double-integrator in this context, and support the theoretical results by several application examples. This includes distance-based multi-agent formation control and power network systems with unknown inertia matrices.}}, author = {{Greiff, Marcus and Sun, Zhiyong and Robertsson, Anders}}, booktitle = {{IFAC-PapersOnLine}}, language = {{eng}}, month = {{07}}, pages = {{2489--2494}}, title = {{Coordination Control of Double-Integrator Systems with Time-Varying Weighted Inputs}}, year = {{2020}}, }