Connectivity preserving state agreement for multiple unicycles

Dimarogonas, DV; Kyriakopoulos, KJ

dc.contributor.author	Dimarogonas, DV	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:32Z
dc.date.available	2014-03-01T02:44:32Z
dc.date.issued	2007	en
dc.identifier.issn	07431619	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31864
dc.subject	Computer Simulation	en
dc.subject	Control Design	en
dc.subject	Feedback Control	en
dc.subject	Matrix Theory	en
dc.subject	Stability Theory	en
dc.subject	System Evolution	en
dc.subject.other	Canning	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Closed loop systems	en
dc.subject.other	Communication	en
dc.subject.other	Computational methods	en
dc.subject.other	Computer simulation	en
dc.subject.other	Graph theory	en
dc.subject.other	Laws and legislation	en
dc.subject.other	Matrix algebra	en
dc.subject.other	System stability	en
dc.subject.other	Vehicles	en
dc.subject.other	Closed loops	en
dc.subject.other	Communication graphs	en
dc.subject.other	Connectivity properties	en
dc.subject.other	Control designs	en
dc.subject.other	Control laws	en
dc.subject.other	Control strategies	en
dc.subject.other	Convergence properties	en
dc.subject.other	Decentralized feedback	en
dc.subject.other	Matrix theory	en
dc.subject.other	Non-holonomic	en
dc.subject.other	Non-holonomic control	en
dc.subject.other	nonsmooth	en
dc.subject.other	relative distances	en
dc.subject.other	Stability theories	en
dc.subject.other	system evolution	en
dc.subject.other	Team members	en
dc.subject.other	Time invariants	en
dc.subject.other	Control system stability	en
dc.title	Connectivity preserving state agreement for multiple unicycles	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ACC.2007.4282650	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ACC.2007.4282650	en
heal.identifier.secondary	4282650	en
heal.publicationDate	2007	en
heal.abstract	This paper presents a decentralized feedback control strategy that drives a system of multiple nonholonomic kinematic unicycles to agreement, maintaining at the same time the connectivity properties of the initially formed communication graph. The communication graph is created based on the initial relative distances between the team members. The proposed control law guarantees that if the communication graph is initially connected, then it remains connected throughout the closed loop system evolution. This is achieved via a control design that renders the set of edges of the initially formed communication graph positively invariant for the trajectories of the closed loop system. The proposed nonholonomic control law is discontinuous and time-invariant and tools from nonsmooth stability theory and matrix theory are used to check the stability of the overall system. The convergence properties are verified through computer simulations. © 2007 IEEE.	en
heal.journalName	Proceedings of the American Control Conference	en
dc.identifier.doi	10.1109/ACC.2007.4282650	en
dc.identifier.spage	1179	en
dc.identifier.epage	1184	en