Input-to-Output Stability for a Coverage Controller

The coverage control problem involves spatially disseminating a network of mobile agents using distributed control laws, or coverage controllers, over a desired region to locally minimize an associated cost function. Mobile robots using coverage controllers will be subject to various disturbances, s...

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Veröffentlicht in:IEEE transactions on control of network systems Jg. 11; H. 2; S. 842 - 854
Hauptverfasser: Kennedy, James, Dower, Peter M., Chapman, Airlie
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.06.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Agents (artificial intelligence)
Asymptotic stability
Control theory
Controllers
Convergence
Cost function
Distributed algorithms/control
Generators
Heuristic algorithms
networks of autonomous agents
Robust control
Robust stability
sensor networks
Sensors
Stability
ISSN:2325-5870, 2372-2533
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Zusammenfassung:The coverage control problem involves spatially disseminating a network of mobile agents using distributed control laws, or coverage controllers, over a desired region to locally minimize an associated cost function. Mobile robots using coverage controllers will be subject to various disturbances, such as uncertainty, errors, and delays. Asymptotic stability of [Cortés et al.'s 2004] coverage controller and its variations have been studied; however, rates of convergence are omitted. Recent work has provided convergence rates for a coverage controller under certain assumptions, including regions where the network locally converges exponentially. The main contribution of this work is to show that a variation of [Cortés et al.'s 2004] coverage controller also features robust stability properties, specifically input-to-output stability, under the same set of assumptions. Conservative bounds are used to provide theoretical guarantees on stability, and simulations are used to verify the results and highlight practical performance of the controller.
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ISSN:2325-5870
2372-2533
DOI:10.1109/TCNS.2023.3314553