Multi-objective control for multi-agent systems using Lyapunov-like barrier functions

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the problem of multi-agent coordination and control under multiple objectives, and presents a set-theoretic formulation which is amenable to Lyapunov-based analysis and control design. A novel class of Lyapunov-like barrier functions is introduced and used to encode multiple, non-trivial control objectives, such as collision avoidance, proximity maintenance and convergence to desired destinations. The construction is based on the concept of recentered barrier functions and on approximation functions. A single Lyapunov-like function encodes the constrained set of each agent, yielding simple, closed-form control solutions. The proposed construction allows also for distributed control design based on information locally available to each agent. The scenario considered here involves nonholonomic vehicles, while simulation results demonstrate the efficacy of the approach.

Original languageEnglish (US)
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1478-1483
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - Jan 1 2013
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: Dec 10 2013Dec 13 2013

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period12/10/1312/13/13

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Panagou, D., Stipanović, D. M., & Voulgaris, P. G. (2013). Multi-objective control for multi-agent systems using Lyapunov-like barrier functions. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 1478-1483). [6760091] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760091