Distributed RISE-based Control for Exponential Heterogeneous Multi-Agent Target Tracking of Second-Order Nonlinear Systems
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866918038618505216 |
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| author | Nino, Cristian F. Patil, Omkar Sudhir Edwards, Sage C. Dixon, Warren E. |
| author_facet | Nino, Cristian F. Patil, Omkar Sudhir Edwards, Sage C. Dixon, Warren E. |
| contents | A distributed implementation of a Robust Integral of the Sign of the Error (RISE) controller is developed for multi-agent target tracking problems with exponential convergence guarantees. Previous RISE-based approaches for multi-agent systems required 2-hop communication, limiting practical applicability. New insights from a Lyapunov-based design-analysis approach are used to eliminate the need for multi-hop communication required in previous literature, while yielding exponential target tracking. The new insights include the development of a new P-function that works in tandem with the graph interaction matrix in the Lyapunov function. Nonsmooth Lyapunov-based stability analysis methods are used to yield semi-global exponential convergence to the target agent state despite the presence of bounded disturbances with bounded derivatives. The resulting outcome is a controller that achieves exponential target tracking with only local information exchange between neighboring agents. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_14418 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Distributed RISE-based Control for Exponential Heterogeneous Multi-Agent Target Tracking of Second-Order Nonlinear Systems Nino, Cristian F. Patil, Omkar Sudhir Edwards, Sage C. Dixon, Warren E. Systems and Control A distributed implementation of a Robust Integral of the Sign of the Error (RISE) controller is developed for multi-agent target tracking problems with exponential convergence guarantees. Previous RISE-based approaches for multi-agent systems required 2-hop communication, limiting practical applicability. New insights from a Lyapunov-based design-analysis approach are used to eliminate the need for multi-hop communication required in previous literature, while yielding exponential target tracking. The new insights include the development of a new P-function that works in tandem with the graph interaction matrix in the Lyapunov function. Nonsmooth Lyapunov-based stability analysis methods are used to yield semi-global exponential convergence to the target agent state despite the presence of bounded disturbances with bounded derivatives. The resulting outcome is a controller that achieves exponential target tracking with only local information exchange between neighboring agents. |
| title | Distributed RISE-based Control for Exponential Heterogeneous Multi-Agent Target Tracking of Second-Order Nonlinear Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.14418 |