Control design for topology-independent stability of interconnected systems

2004 ◽  
Author(s):  
R. Cogill ◽  
S. Lall
Keyword(s):  
Control Design ◽  
Interconnected Systems

The Use of Partial Stability in the Analysis of Interconnected Systems

2020 ◽  
Vol 143 (4) ◽  
Author(s):  
Bo Wang ◽  
Hashem Ashrafiuon ◽  
Sergey G. Nersesov
Keyword(s):  
Sufficient Conditions ◽  
Control Design ◽  
Interconnected Systems ◽  
System State ◽  
Uniform Asymptotic Stability ◽  
Partial Stability ◽  
Control Framework ◽  
Control Objective ◽  
The Stability ◽  
Robot Platform

Abstract In this paper, we develop sufficient conditions for uniform asymptotic stability of interconnected dynamical systems that are not in cascade form. We show that the stability analysis of a two-subsystem interconnection can be reduced to ensuring the stability of the first nonisolated subsystem with respect to its own state vector (partial stability) and the stability of the isolated second subsystem. In addition, based on the above results, we provide a control design framework for nonlinear systems where the control objective reduces to stabilization of only a part of the system state while guaranteeing the stability for the entire state of the system. We validate the efficacy of the proposed control framework via simulations and experiments using the wheeled mobile robot platform.

Coordination Control for Multiagent Interconnected Systems

2011 ◽  
Author(s):  
Wassim M. Haddad ◽  
Sergey G. Nersesov
Keyword(s):  
Dynamical Systems ◽  
Lyapunov Functions ◽  
Nonlinear Dynamical Systems ◽  
Control Design ◽  
Interconnected Systems ◽  
Time Varying ◽  
Design Framework ◽  
Coordination Control ◽  
Nonlinear Dynamical ◽  
Stabilizing Controllers

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.

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