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A Framework for Lyapunov Certificates for Multi-Vehicle Rendezvous Problems
Abstract In this paper we present a dynamical syste
In this paper we present a dynamical systems representation for multi-agent rendezvous on the phase plane. We restrict our attention to two agents, each with scalar dynamics. The problem of rendezvous is cast as a stabilization problem, with a set of constraints on the trajectories of the agents, defined on the phase plane. We also describe a method to generate control Lyapunov functions that when used in conjunction with a stabilizing control law, such as Sontag's formula, make sure that the two-agent system attains rendezvous. The main result of this paper is a Lyapunov-like certificate theorem that describes a set of constraints, which when satisfied are su±cient to guarantee rendezvous.
fied are su±cient to guarantee rendezvous.  +
Authors Abhishek Tiwari, Jimmy Fung, John Carson, Raktim Bhattacharya, Richard M. Murray  +
ID 2003o  +
Source 2004 American Control Conference  +
Tag tiw+04-acc  +
Title A Framework for Lyapunov Certificates for Multi-Vehicle Rendezvous Problems +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:18:35  +
URL
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http://www.cds.caltech.edu/~murray/preprints/tiw+04-acc.pdf  +
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A Framework for Lyapunov Certificates for Multi-Vehicle Rendezvous Problems + Title
 

 

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