A Framework for Lyapunov Certificates for Multi-Vehicle Rendezvous Problems
From Murray Wiki
Jump to navigationJump to search
Abhishek Tiwari, Jimmy Fung, John Carson, Raktim Bhattacharya, Richard M. Murray
2004 American Control Conference
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.
- Conference Paper: http://www.cds.caltech.edu/~murray/preprints/tiw%2B04-acc.pdf
- Project(s): Template:HTDB funding::AFOSR/info, Template:HTDB funding::DARPA/mica
