2 research outputs found
Finite-Time Resilient Formation Control with Bounded Inputs
In this paper we consider the problem of a multi-agent system achieving a
formation in the presence of misbehaving or adversarial agents. We introduce a
novel continuous time resilient controller to guarantee that normally behaving
agents can converge to a formation with respect to a set of leaders. The
controller employs a norm-based filtering mechanism, and unlike most prior
algorithms, also incorporates input bounds. In addition, the controller is
shown to guarantee convergence in finite time. A sufficient condition for the
controller to guarantee convergence is shown to be a graph theoretical
structure which we denote as Resilient Directed Acyclic Graph (RDAG). Further,
we employ our filtering mechanism on a discrete time system which is shown to
have exponential convergence. Our results are demonstrated through simulations
New Results on Finite-Time Stability: Geometric Conditions and Finite-Time Controllers
This paper presents novel controllers that yield finite-time stability for
linear systems. We first present a sufficient condition for the origin of a
scalar system to be finite-time stable. Then we present novel finite-time
controllers based on vector fields and barrier functions to demonstrate the
utility of this geometric condition. We also consider the general class of
linear controllable systems, and present a continuous feedback control law to
stabilize the system in finite time. Finally, we present simulation results for
each of these cases, showing the efficacy of the designed control laws.Comment: 2018 American Control Conference, Milwaukee, Wisconsin, June 201