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DTSTAMP:20190117T155852
UID:674c5f52-1a68-11e9-b632-000e0c3db68b
SUMMARY:Systems and Control Seminar: Vortrag von Raik Suttner, M.Sc.
DESCRIPTION:\nTitel: Convergence and Stability for Control-Affine Systems with Applications to\nFormation Control\n\nAbstract:\nThis talk gives an overview of a new approach to distance-based formation control. We\nconsider systems of autonomous agents, where each agent can only measure the distances to other\nmembers of the team according to an interaction graph. The goal is to find a distributed control\nlaw that steers the agents from any given initial state to a prescribed final formation. One of the\nmost popular strategies to solve this kind of problem is the gradient control law, where each agent\nis driven into the direction of steepest descent of a suitable chosen local potential function. In\nrecent years, it was shown that this control law steers the agent to a desired formation if, for\nexample, certain rigidity conditions are satisfied. However, an implementation of the gradient law\nrequires information about relative positions and is therefore not applicable if only distance\nmeasurements are available. To circumvent this problem, we approximate the trajectories of the\ngradient control law by a sequence of trajectories from a purely distance-based control law. This\nway it is possible to transfer exponential stability from the multi-agent system under the gradient\ncontrol law to the system under the purely distance-based control law. The underlying mathematical\ntheory, which was developed by H.J. Sussmann in the early 1990's, is explained in the talk. It is\nbased on convergence of trajectories of control-affine systems to trajectories of so-called\nextended systems, which contain Lie brackets of the control vector fields.\n\n\nBiographie:\nRaik Suttner received the B.S. and M.S. degrees in mathematics from the University of\nWuerzburg, Germany, in 2013 and 2015, respectively. Since April 2016 he is a PhD student in\nmathematics at the University of Wuerzburg, Germany.
DTSTART;VALUE=DATE:20160927
URL;VALUE=URI:https://www.ist.uni-stuttgart.de/de/veranstaltungen/Systems-and-Control-Seminar-Vortrag-von-Raik-Suttner-M.Sc./
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