3 research outputs found
Integral Input-to-State Stability of Nonlinear Time-Delay Systems with Delay-Dependent Impulse Effects
This paper studies integral input-to-state stability (iISS) of nonlinear
impulsive systems with time-delay in both the continuous dynamics and the
impulses. Several iISS results are established by using the method of
Lyapunov-Krasovskii functionals. For impulsive systems with iISS continuous
dynamics and destabilizing impulses, we derive two iISS criteria that guarantee
the uniform iISS of the whole system provided that the time period between two
successive impulse moments is appropriately bounded from below. Then we provide
an iISS result for systems with unstable continuous dynamics and stabilizing
impulses. For this scenario, it is shown that the iISS properties are
guaranteed if the impulses occur frequently enough. For impulsive systems with
stabilizing impulses and stable continuous dynamics for zero input, we obtain
an iISS result which shows that the entire system is uniformly iISS over
arbitrary impulse time sequences. As applications, iISS properties of a class
of bilinear systems are studied in details with simulations to demonstrate the
presented results
Finite-Time Rigidity-Based Formation Maneuvering of Multiagent Systems Using Distributed Finite-Time Velocity Estimators
In this paper, finite time rigidity-based formation maneuvering control of single integrator multiagent systems is considered. The target formation graph is assumed to be minimally and infinitesimally rigid, and the desired group velocity is considered to be available only to a subset of the agents. A distributed nonsmooth velocity estimator is used for each agent to estimate the desired group velocity in finite time. Using Lyapunov and input to state stability notions, a finite time distance-based formation maneuvering controller is presented and it is proved that by using the controller, agents converge to the target formation and track the desired group velocity in finite time. Furthermore, it is demonstrated that the designed controller is implementable in local coordinate frames of the agents. Simulation results are provided to show the effectiveness of the proposed control scheme