Work

Distributed RISE-Based Control for Exponential Heterogeneous Multi-Agent Target Tracking of Second-Order Nonlinear Systems

Year: 2025

Type: article

Abstract: This work presents a decentralized Robust Integral of the Sign of the Error (RISE) controller for multi-agent target tracking with exponential convergence. Previous RISE-based multi-agent approaches required 2-hop communication, limiting practical applicability. New insights from a Lyapunov-based design-analysis approach eliminate this multi-hop requirement while yielding exponential tracking. These insights include a novel P-function developed in tandem with the inclusion of the interaction matrix in the Lyapunov function. Nonsmooth Lyapunov stability analysis yields semi-global exponential convergence to the target agent state despite bounded disturbances. The resulting controller achieves exponential target tracking with only local information exchange between neighboring agents.

Source: IEEE Control Systems Letters

DOI: 10.1109/lcsys.2025.3576068

Authors: Cristian F. Nino, Omkar Sudhir Patil, Sage C. Edwards, Warren E. Dixon

Institution: University of Florida

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funders: Air Force Office of Scientific Research, Air Force Research Laboratory

Awards: G1257962346, G6322451214