Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Achieving coordination tasks in finite time via nonsmooth gradient flows
J. Cortés
Proceedings of the 44th IEEE Int. Conf. Decision and Control, Seville, Spain, 2005, pp. 6376-6381
Abstract
This paper introduces the normalized and signed gradient dynamical
systems associated with a differentiable function. Extending recent
results on nonsmooth stability analysis, we characterize their
asymptotic convergence properties and identify conditions that
guarantee finite-time convergence. We discuss the
application of the results to the design of multi-agent coordination
algorithms, paying special attention to their scalability
properties. Finally, we consider network consensus problems and
show how the proposed nonsmooth gradient flows achieve the desired
coordination task in finite time.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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