Nonlinear Stability and Boundedness of Approximately Symmetric Large-Scale Systems
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- 作者：Bill Goodwine* ; bill@controls.ame.nd.edu" class="auth_mail" title="E-mail the corresponding author
- 关键词：Symmetric systems ; Lyapunov stability ; nonlinear systems ; robotics ; distributed control
- 刊名：IFAC-PapersOnLine
- 出版年：2014
- 出版时间：2014
- 年：2014
- 卷：47
- 期：3
- 页码：845-850
- 全文大小：223 K
文摘
Stability and convergence properties of large-scale integrated systems are essential aspects of the development of truly useful and well-designed cyber-physical systems (CPS). Because of the desire for flexible, adaptive and reactive cyber-physical systems, i.e., global operation, nonlinear analyses and tools are especially important in CPS. Hence, Lyapunov methods are at the core of many critical control methodologies for such systems. This paper considers Lyapunov stability for approximately symmetric systems. Many robotic systems, such as swarms and fleets of mobile robots, distributed sensor networks, highly integrated cyber-physical systems, etc., are comprised many identical interacting agents, and our prior work has developed computationally efficient stability analyses of the control and dynamics of such symmetric systems. This paper extends those results to the important case where all the agents are not identical, which is important for real-world applications where it is not possible to have exactly identical agents. Importantly, these results do not require the components to have small differences. However, the bounds on the nature of the solutions will obviously depend on how different the agents are.