Exponential and practical exponential stability of second-order formation control systems
Abstract
We study the problem of distance-based formation shape control for autonomous agents with double-integrator dynamics. Our considerations are focused on exponential stability properties. For second-order formation systems under the standard gradient-based control law, we prove local exponential stability with respect to the total energy by applying Chetaev's trick to the Lyapunov candidate function. We also propose a novel formation control law, which does not require measurements of relative positions but instead measurements of distances. The distance-only control law is based on an approximation of symmetric products of vector fields by sinusoidal perturbations. A suitable averaging analysis reveals that the averaged system coincides with the multi-agent system under the standard gradient-based control law. This allows us to prove practical exponential stability for the system under the distance-only control law.
Cite
@article{arxiv.1909.04996,
title = {Exponential and practical exponential stability of second-order formation control systems},
author = {Raik Suttner and Zhiyong Sun},
journal= {arXiv preprint arXiv:1909.04996},
year = {2019}
}