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Stability and Control of Large-Scale Dynamical SystemsA Vector Dissipative Systems Approach$
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Wassim M. Haddad and Sergey G. Nersesov

Print publication date: 2011

Print ISBN-13: 9780691153469

Published to Princeton Scholarship Online: October 2017

DOI: 10.23943/princeton/9780691153469.001.0001

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Coordination Control for Multiagent Interconnected Systems

Coordination Control for Multiagent Interconnected Systems

(p.127) Chapter Seven Coordination Control for Multiagent Interconnected Systems
Stability and Control of Large-Scale Dynamical Systems

Wassim M. Haddad

Sergey G. Nersesov

Princeton University Press

This chapter describes a stability and control design framework for time-varying and time-invariant sets of nonlinear dynamical systems. The framework is applied to the problem of coordination control for multiagent interconnected systems predicated on vector Lyapunov functions. In multiagent systems, several Lyapunov functions arise naturally where each agent can be associated with a generalized energy function corresponding to a component of a vector Lyapunov function. The chapter characterizes a moving formation of vehicles as a time-varying set in the state space to develop a distributed control design framework for multivehicle coordinated motion control by designing stabilizing controllers for time-varying sets of nonlinear dynamical systems. The proposed cooperative control algorithms are shown to globally exponentially stabilize both moving and static formations.

Keywords:   stability, control design, time-varying set, time-invariant set, nonlinear dynamical system, coordination control, vector Lyapunov function, multiagent systems, state space, multivehicle coordinated motion control

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