This paper focuses on the robust stability for time-delay systems of neutral type. A new complete Lyapunov-Krasovskii function (LKF) is developed. Based on this function and discretization, stability conditions in ter...This paper focuses on the robust stability for time-delay systems of neutral type. A new complete Lyapunov-Krasovskii function (LKF) is developed. Based on this function and discretization, stability conditions in terms of linear matrix inequalities are obtained. A class of time-varying uncertainty of system matrices can be studied by the method.展开更多
We present a safety-critical finite-time control framework for sampled-data multi-robot system coordination.We formally define and construct a finite-time discrete control Lyapunov function(FT-DCLF)and derive sufficie...We present a safety-critical finite-time control framework for sampled-data multi-robot system coordination.We formally define and construct a finite-time discrete control Lyapunov function(FT-DCLF)and derive sufficient conditions that ensure convergence within a preset number of sampling steps,thereby enhancing both applicability and convergence speed.In parallel,we improve upon a discrete control barrier function(DCBF)constraint.This constraint addresses the continuous-discrete mismatch(“safety gap”)and ensures all-time safety,while mitigating deadlock and resolving performance-safety conflicts that are common in conventional DCBFs for obstacle avoidance.Both components,along with input bounds,are integrated into a single quadratically constrained quadratic program(QCQP),augmented with feasibility-aiding slack variables for real-time implementation.Simulation results demonstrate that the proposed method outperforms conventional DCLF-DCBF approaches.展开更多
基金the National High Technology Research and Development Program (863) of China(No. 2006AA05Z148)
文摘This paper focuses on the robust stability for time-delay systems of neutral type. A new complete Lyapunov-Krasovskii function (LKF) is developed. Based on this function and discretization, stability conditions in terms of linear matrix inequalities are obtained. A class of time-varying uncertainty of system matrices can be studied by the method.
基金supported by the Joint Fund of the National Natural Science Foundation of China(No.U24A20263)the National Natural Science Foundation of China(No.62473071).
文摘We present a safety-critical finite-time control framework for sampled-data multi-robot system coordination.We formally define and construct a finite-time discrete control Lyapunov function(FT-DCLF)and derive sufficient conditions that ensure convergence within a preset number of sampling steps,thereby enhancing both applicability and convergence speed.In parallel,we improve upon a discrete control barrier function(DCBF)constraint.This constraint addresses the continuous-discrete mismatch(“safety gap”)and ensures all-time safety,while mitigating deadlock and resolving performance-safety conflicts that are common in conventional DCBFs for obstacle avoidance.Both components,along with input bounds,are integrated into a single quadratically constrained quadratic program(QCQP),augmented with feasibility-aiding slack variables for real-time implementation.Simulation results demonstrate that the proposed method outperforms conventional DCLF-DCBF approaches.
