Synchronization and balancing around simple closed polar curves with bounded trajectories

Hegde, A and Jain, A (2023) Synchronization and balancing around simple closed polar curves with bounded trajectories. In: Automatica, 149 .

PDF Aut_149_2023.pdf - Published Version Restricted to Registered users only Download (2MB) | Request a copy

Abstract

The problem of synchronization and balancing around simple closed polar curves is addressed for unicycle-type multi-agent systems. Leveraging the concept of barrier Lyapunov function in conjunction with bounded Lyapunov-like curve-phase potential functions, we propose distributed feedback control laws and show that the agents asymptotically stabilize to the desired closed curve in synchronized and balanced curve-phase patterns, and their trajectories remain bounded within a compact set. Our control design methodology is based on the proposition of two models, namely the parametric-phase control model and the curve-phase control model. We also characterize the trajectory-constraining set based on the magnitude of the safe distance of the exterior boundary from the desired curve. We further establish a connection between the perimeters and areas of the trajectory-constraining set with the perimeter and area of the desired curve. We obtain bounds on different quantities of interest in the post-design analysis and provide simulation results to illustrate the theoretical findings. © 2022 Elsevier Ltd

Item Type:	Journal Article
Publication:	Automatica
Publisher:	Elsevier Ltd
Additional Information:	The copyright for this article belongs to Elsevier Ltd.
Keywords:	Lyapunov functions; Multi agent systems; Synchronization; Trajectories, Barriers functions; Bounded trajectories; Closed curve; Control model; Curve phase; Formation control; Lyapunov's methods; Phase-Control; Simple closed curve; Simple++, Lyapunov methods
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	31 Jan 2023 06:57
Last Modified:	31 Jan 2023 06:57
URI:	https://eprints.iisc.ac.in/id/eprint/79612

Actions (login required)

View Item