Local synchronization of sampled-data systems on one-parameter Lie subgroups
Abstract
We present a distributed nonlinear control law
for synchronization of identical agents on one-parameter Lie
subgroups. If the agents are initialized sufficiently close to one
another, then synchronization is achieved exponentially fast.
The proof does not use Jacobian linearization, instead the local
nature of our result stems from our use of exponential coordi nates on a matrix Lie group. We characterize all equilibria
of the network and provide a characterization of deadbeat
performance for a complete connectivity graph.
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Cite this version of the work
Philip James McCarthy, Christopher Nielsen
(2017).
Local synchronization of sampled-data systems on one-parameter Lie subgroups. UWSpace.
http://hdl.handle.net/10012/17484
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