Trajectory convergence from coordinate-wise decrease of quadratic energy functions, and applications to platoons

10 Jun 2019 Hendrickx Julien M. Gerencser Balazs Fidan Baris

We consider trajectories where the sign of the derivative of each entry is opposite to that of the corresponding entry in the gradient of an energy function. We show that this condition guarantees convergence when the energy function is quadratic and positive definite and partly extend that result to some classes of positive semi-definite quadratic functions including those defined using a graph Laplacian... (read more)

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  • DYNAMICAL SYSTEMS
  • MULTIAGENT SYSTEMS
  • SYSTEMS AND CONTROL
  • SYSTEMS AND CONTROL