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Coordination Control of Double-Integrator Systems with Time-Varying Weighted Inputs

Greiff, Marcus LU ; Sun, Zhiyong LU and Robertsson, Anders LU (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.
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author
; and
organization
publishing date
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}},
}