Undamped Nonlinear Consensus Using Integral Lyapunov Functions
2012 (English)In: 2012 American Control Conference (ACC), IEEE Computer Society, 2012, 6644-6649 p.Conference paper (Refereed)
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.
, Proceedings of the American Control Conference, ISSN 0743-1619
Atonomous systems, Agents-based systems
Control Engineering Robotics
IdentifiersURN: urn:nbn:se:kth:diva-71564ISI: 000310776206155ScopusID: 2-s2.0-84869475807ISBN: 978-1-4577-1096-4OAI: oai:DiVA.org:kth-71564DiVA: diva2:486826
American Control Conference, ACC 2012; Montreal, QC; 27 June 2012 through 29 June 2012
FunderICT - The Next Generation
QC 201207312012-07-312012-01-312013-04-15Bibliographically approved