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Analysis of robot navigation schemes using Rantzer's Dual Lyapunov Theorem
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-9940-5929
2008 (engelsk)Inngår i: 2008 AMERICAN CONTROL CONFERENCE, 2008, s. 201-206Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

When robots are driven by the negative gradient of a potential field that consists of the sum of an attractive and a repulsive term, convergence to the desired configuration cannot be guaranteed by traditional Lyapunov techniques. In this paper, sufficient conditions for convergence of such systems are provided instead with the use of Rantzer's Dual Lyaptinov Theorem. In particular, a condition that involves the trace of the Hessian matrix of the potential function is derived and then applied to the cases of navigation of a single robot and of multi-robot formation stabilization. The main result of the paper states that a sufficient condition for convergence to a desired configuration in both cases is that the attractive potential admits a sufficiently large gain. A lower bound on the attractive potential is computed. Computer simulations that support the new results are provided.

sted, utgiver, år, opplag, sider
2008. s. 201-206
Serie
PROCEEDINGS OF THE AMERICAN CONTROL CONFERENCE, ISSN 0743-1619
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-26526DOI: 10.1109/ACC.2008.4586491ISI: 000259261500036Scopus ID: 2-s2.0-52449129796OAI: oai:DiVA.org:kth-26526DiVA, id: diva2:385736
Konferanse
American Control Conference 2008 Seattle, WA, JUN 11-13, 2008
Merknad
Q 20110112Tilgjengelig fra: 2011-01-12 Laget: 2010-11-25 Sist oppdatert: 2012-02-01bibliografisk kontrollert

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