Title :
Sufficient conditions for decentralized navigation functions based controllers using canonical vector fields
Author :
Dimarogonas, Dimos V.
Author_Institution :
ACCESS Linnaeus Center, R. Inst. of Technol., Stockholm, Sweden
Abstract :
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 multi-agent 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.
Keywords :
Hessian matrices; Lyapunov methods; collision avoidance; decentralised control; eigenvalues and eigenfunctions; multi-agent systems; multi-robot systems; set theory; stability; vectors; Hessian matrices; canonical vector fields; collision avoidance; decentralized navigation function based controllers; dual Lyapunov analysis; minimum eigenvalues; multiagent systems; reachable set; stability properties; Collision avoidance; Convergence; Density functional theory; Eigenvalues and eigenfunctions; Navigation; Trajectory; Vectors;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6161219
