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Undamped Nonlinear Consensus Using Integral Lyapunov Functions
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2012 (English)In: 2012 American Control Conference (ACC), IEEE Computer Society, 2012, 6644-6649 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper analyzes a class of nonlinear consensus algorithms where the input of an agent can be decoupled into a product of a gain function of the agents own state, and a sum of interaction functions of the relative states of its neighbors. We prove the stability of the protocol for both single and double integrator dynamics using novel Lyapunov functions, and provide explicit formulas for the consensus points. The results are demonstrated through simulations of a realistic example within the framework of our proposed consensus algorithm.

Place, publisher, year, edition, pages
IEEE Computer Society, 2012. 6644-6649 p.
Series
Proceedings of the American Control Conference, ISSN 0743-1619
Keyword [en]
Atonomous systems, Agents-based systems
National Category
Control Engineering Robotics
Identifiers
URN: urn:nbn:se:kth:diva-71564ISI: 000310776206155Scopus ID: 2-s2.0-84869475807ISBN: 978-1-4577-1096-4 (print)OAI: oai:DiVA.org:kth-71564DiVA: diva2:486826
Conference
American Control Conference, ACC 2012; Montreal, QC; 27 June 2012 through 29 June 2012
Funder
ICT - The Next Generation
Note

QC 20120731

Available from: 2012-07-31 Created: 2012-01-31 Last updated: 2013-04-15Bibliographically approved

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Dimarogonas, Dimos V.Johansson, Karl H.

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