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This paper computes all the continuous point-transformation symmetries for a planar multi-agent dynamical control system. The relative configuration among the agents is often the most important aspect of this problem, and this paper presents a method to “factor out” the location and orientation on the plane of a multi-agent formation problem. This is useful in the case where only the relative positioning...
This paper presents boundedness results for symmetric nonautonomous control systems. The results are Lyapunov-based and exploit the symmetric structure present in many compositional or distributed control system. The work extends some of our prior work which defines an equivalence class of symmetric control systems by determining conditions for boundedness of solutions for such systems. The extension...
This paper considers nonlinear control systems that are approximately symmetric, and extends some prior work of the author related to stability of symmetric systems to the case where the system is not exactly symmetric. Many engineering systems are composed of components that are nominally identical, but due inherent variability in physical systems, can not be exactly symmetric. By exploiting the...
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