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Sufficient Conditions for Decentralized Potential Functions Based Controllers Using Canonical Vector Fields
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS.ORCID-id: 0000-0001-7309-8086
2012 (engelsk)Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 57, nr 10, s. 2621-2626Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

A combination of dual Lyapunov analysis and properties of decentralized navigation function based controllers is used to check the stability properties of a certain class of decentralized controllers for navigation and collision avoidance in multiagent systems. The derived results yield a less conservative condition from previous approaches, which relates to the negativity of the sum of the minimum eigenvalues of the Hessian matrices at the critical points, instead of requiring each of the eigenvalues to be negative itself. This provides an improved characterization of the reachable set of this class of decentralized navigation function based controllers, which is less conservative than the previous results for the same class of controllers.

sted, utgiver, år, opplag, sider
2012. Vol. 57, nr 10, s. 2621-2626
Emneord [en]
Collision avoidance, decentralized navigation, UAV guidance
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-104117DOI: 10.1109/TAC.2012.2191319ISI: 000309240400017Scopus ID: 2-s2.0-84866953057OAI: oai:DiVA.org:kth-104117DiVA, id: diva2:563235
Forskningsfinansiär
Swedish Research Council, 2009-3948ICT - The Next Generation
Merknad

QC 20121029

Tilgjengelig fra: 2012-10-29 Laget: 2012-10-29 Sist oppdatert: 2017-12-07bibliografisk kontrollert

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