A control Lyapunov function approach to multi-agent coordination

10 July 2003

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

Vol. 2, 1150-1155
https://doi.org/10.1109/cdc.2001.981040

Abstract

In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method.

Keywords

LYAPUNOV METHOD
ROBOT KINEMATICS
VEHICLE DYNAMICS
ROBOT CONTROL
MOTION CONTROL
CONTROL SYSTEMS
NONLINEAR DYNAMICAL SYSTEMS
VEHICLES
TERMINOLOGY
ROBUSTNESS

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