Multi-agent compositional stability exploiting system symmetries
Multi-agent compositional stability exploiting system symmetries
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DOI：
10.1016/j.automatica.2013.07.003
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
B. Goodwine;P. Antsaklis
中科院分区：
文献类型：
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作者：
B. Goodwine;P. Antsaklis
本文考虑非线性对称控制系统。通过利用系统的对称结构，稳定性的结果是独立的系统中的组件的数量。这项工作有助于大规模系统的组合性和可组合性的研究领域，系统可以通过添加组件，同时保持系统的稳定性。在本文中开发的建模框架是一个概括的许多现有的结果，专注于互联系统与特定的动态。稳定性结果的主要用途是可伸缩性或组合性。如果系统对于给定数量的组件是稳定的，则在适当的条件下，对于由相同类型的组件组成的较大系统，其稳定性是有保证的，这些组件以与较小系统一致的方式互连。结果是一般性的，适用于广泛的一类问题。本文的例子集中在多智能体机器人系统的编队控制问题。
This paper considers nonlinear symmetric control systems. By exploiting the symmetric structure of the system, stability results are derived that are independent of the number of components in the system. This work contributes to the fields of research directed toward compositionality and composability of large-scale system in that a system can be “built-up” by adding components while maintaining system stability. The modeling framework developed in this paper is a generalization of many existing results which focus on interconnected systems with specific dynamics. The main utility of the stability result is one of scalability or compositionality. If the system is stable for a given number of components, under appropriate conditions stability is then guaranteed for a larger system composed of the same type of components which are interconnected in a manner consistent with the smaller system. The results are general and applicable to a wide class of problems. The examples in this paper focus on the formation control problems for multi-agent robotic systems.