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Sufficient Conditions for Decentralized Potential Functions Based Controllers Using Canonical Vector Fields
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
2012 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 57, no 10, 2621-2626 p.Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
2012. Vol. 57, no 10, 2621-2626 p.
Keyword [en]
Collision avoidance, decentralized navigation, UAV guidance
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-104117DOI: 10.1109/TAC.2012.2191319ISI: 000309240400017ScopusID: 2-s2.0-84866953057OAI: diva2:563235
Swedish Research Council, 2009-3948ICT - The Next Generation

QC 20121029

Available from: 2012-10-29 Created: 2012-10-29 Last updated: 2013-04-11Bibliographically approved

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Dimarogonas, Dimos V.
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